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authorJérémy Dufour2009-05-20 16:34:31 +0200
committerJérémy Dufour2009-05-20 16:34:31 +0200
commit5d55416cac3fa485d61fb01c95ca8067c2ca17c7 (patch)
tree4aeb51ff36986157b4dba18a09628faedce094d2 /digital/io/src/top.h
parent73bbc9e206772e928878126187789448ab3d0d47 (diff)
* digital/io/src:
- implement top FSM.
Diffstat (limited to 'digital/io/src/top.h')
-rw-r--r--digital/io/src/top.h40
1 files changed, 40 insertions, 0 deletions
diff --git a/digital/io/src/top.h b/digital/io/src/top.h
index 3b453dc9..1492405d 100644
--- a/digital/io/src/top.h
+++ b/digital/io/src/top.h
@@ -25,4 +25,44 @@
*
* }}} */
+#include "asserv.h"
+
+/**
+ * Get the next position to get pucks on the ground.
+ * About the @p restart parameter, you need to set to 1 when for example, you
+ * have unload some pucks and restart the procedure to get new one.
+ * @param position the next position computed.
+ * @param restart set it to 1 when you restart a procedure.
+ * @return 0 if there is no more position.
+ */
+uint8_t
+top_get_next_position_to_get_puck_on_the_ground (asserv_position_t *position,
+ uint8_t restart);
+
+/**
+ * Get the next position to get pucks from the distributor.
+ * @param clean_position the position to clean the distributor.
+ * @param front_position the position in front of the distributor to fuck it.
+ */
+void
+top_get_next_position_to_get_distributor (asserv_position_t *clean_position,
+ asserv_position_t *front_position);
+
+/**
+ * Get the next position to get an unload position.
+ * @param position the next unloading position.
+ */
+void
+top_get_next_position_to_unload_puck (asserv_position_t *position);
+
+/**
+ * Count number of pucks we have taken during a match.
+ */
+extern uint8_t top_total_puck_taken;
+
+/**
+ * Number of pucks inside the bot.
+ */
+extern uint8_t top_puck_inside_bot;
+
#endif /* top_h */