Update manpage

doc/Auxiliary-Files.md

@@ -4,5 +4,5 @@
     * 制御則の解説
     * パラメータファイルの設定方法概要
 
-* [libypspur コマンド一覧](https://github.com/openspur/yp-spur/wiki/files/libypspur_cheatsheet.pdf)
-    * known issue: `Spur_set_pos_FS` が記載されているが実際には存在しない
+* [libypspur コマンド一覧](https://github.com/openspur/yp-spur/raw/master/doc/files/libypspur_cheatsheet.pdf)
+    * known issue: `Spur_set_pos_FS` が記載されているが実際には存在しない

doc/Manpage.control.md

@@ -0,0 +1,247 @@
+# libypspur - motion control
+
+## Motion control parameter settings
+
+### Name
+
+Spur_set_vel, Spur_set_angvel, Spur_set_accel, Spur_set_angaccel
+
+### Synopsis
+
+```c
+int Spur_set_vel(double vel);
+int Spur_set_angvel(double angvel);
+int Spur_set_accel(double accel);
+int Spur_set_angaccel(double angaccel);
+```
+
+### Description
+
+Set maximum velocity and acceleration used in motion control.
+
+* **vel**: Maximum linear velocity of the robot _[m/s]_
+* **angvel**: Maximum angular velocity _[rad/s]_
+* **accel**: Maximum linear acceleration _[m/ss]_
+* **angaccel**: Maximum angular acceleration _[rad/ss]_
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+## Line following
+
+### Name
+
+Spur_line_GL, Spur_line_LC, Spur_line_FS
+
+### Synopsis
+
+```c
+int Spur_line_GL(double x, double y, double th);
+int Spur_line_LC(double x, double y, double th);
+int Spur_line_FS(double x, double y, double th);
+```
+
+### Description
+
+Control vehicle velocity and angular velocity to follow desired straight line.
+
+* **x**: x position of a point where the desired line passing through _[m]_
+* **y**: y position of the point _[m]_
+* **th**: yaw orientation of the line _[rad]_
+
+![Parameters for line following control](https://github.com/openspur/yp-spur/raw/master/doc/images/commands/line.png)
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+## Circle following
+
+### Name
+
+Spur_circle_GL, Spur_circle_LC, Spur_circle_FS - Circle following
+
+### Synopsis
+
+```c
+int Spur_circle_GL(double x, double y, double d);
+int Spur_circle_LC(double x, double y, double d);
+int Spur_circle_FS(double x, double y, double d);
+```
+
+### Description
+
+Control vehicle velocity and angular velocity to follow desired circle.
+
+* **x**: x position of the center of the desired circle _[m]_
+* **y**: y position of the center of the desired circle _[m]_
+* **d**: radius of the circle _[m]_ (positive: CCW, negative: CW)
+
+![Parameters for circle following control](https://github.com/openspur/yp-spur/raw/master/doc/images/commands/circle.png)
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+## Angle control (Yaw pose control)
+
+### Name
+
+Spur_spin_GL, Spur_spin_LC, Spur_spin_FS
+
+### Synopsis
+
+```c
+int Spur_spin_GL(double th);
+int Spur_spin_LC(double th);
+int Spur_spin_FS(double th);
+```
+
+### Description
+
+Control angular velocity to face desired direction.
+
+* **th**: Desired yaw orientation _[rad]_
+
+![Parameters for angle control](https://github.com/openspur/yp-spur/raw/master/doc/images/commands/spin.png)
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+##  Angle control (Yaw pose control) with translational motion
+
+### Name
+
+Spur_orient_GL, Spur_orient_LC, Spur_orient_FS
+
+### Synopsis
+
+```c
+int Spur_orient_GL(double th);
+int Spur_orient_LC(double th);
+int Spur_orient_FS(double th);
+```
+
+### Description
+
+Control velocity and angular velocity to run facing desired direction.
+
+* **th**: Desired yaw orientation _[rad]_
+
+![Parameters for angle control with translational motion](https://github.com/openspur/yp-spur/raw/master/doc/images/commands/orient.png)
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+##  Line following with position control
+
+### Name
+
+Spur_stop_line_GL, Spur_stop_line_LC, Spur_stop_line_FS
+
+### Synopsis
+
+```c
+int Spur_stop_line_GL(double x, double y, double th);
+int Spur_stop_line_LC(double x, double y, double th);
+int Spur_stop_line_FS(double x, double y, double th);
+```
+
+### Description
+
+Control vehicle velocity and angular velocity to follow desired straight line and stop at the desired position with best effort.
+
+* **x**: x position of a point where the desired line passing through and desired to stop on _[m]_
+* **y**: y position of the point _[m]_
+* **th**: yaw orientation of the line _[rad]_
+
+![Parameters for line following with position control](https://github.com/openspur/yp-spur/raw/master/doc/images/commands/stop_line.png)
+
+### Return value
+
+On success, zero is returned. On error, -1 is returned.
+
+***
+
+## Velocity control
+
+### Name
+
+Spur_vel
+
+### Synopsis
+
+```c
+int Spur_vel(double v, double w);
+```
+
+### Description
+
+Control vehicle velocity and angular velocity.
+
+* **v**: velocity of the vehicle _[m/s]_
+* **w**: angular velocity of the vehicle _[rad/s]_
+
+### Return value
+
+On success, 0 is returned.  On error, -1 is returned.
+
+***
+
+## Stop
+
+### Name
+
+Spur_stop
+
+### Synopsis
+
+```c
+int Spur_stop(void);
+```
+
+### Description
+
+Stop with set acceleration and angular acceleration.
+
+### Return value
+
+On success, 0 is returned.  On error, -1 is returned.
+
+***
+
+## Free
+
+### Name
+
+Spur_free, Spur_openfree
+
+### Synopsis
+
+```c
+int Spur_free(void);
+int Spur_openfree(void);
+```
+
+### Description
+
+Stop velocity control and make wheels free.
+`Spur_free` actively frees wheels compensating friction.
+`Spur_openfree` opens motors drive circuits.
+
+### Return value
+
+On success, 0 is returned.  On error, -1 is returned.