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Diffstat (limited to 'digital/ai/src/twi_master/asserv.h')
-rw-r--r--digital/ai/src/twi_master/asserv.h14
1 files changed, 10 insertions, 4 deletions
diff --git a/digital/ai/src/twi_master/asserv.h b/digital/ai/src/twi_master/asserv.h
index 0d29ba96..c9a52a11 100644
--- a/digital/ai/src/twi_master/asserv.h
+++ b/digital/ai/src/twi_master/asserv.h
@@ -121,16 +121,16 @@ asserv_get_motor1_position (void);
/**
* Are we moving forward/backward?
* @return
- * - 0 we are not moving;
- * - 1 we are moving forward;
- * - 2 we are moving backward.
+ * - DIRECTION_NONE we are not moving;
+ * - DIRECTION_FORWARD we are moving forward;
+ * - DIRECTION_BACKWARD we are moving backward.
*/
uint8_t
asserv_get_moving_direction (void);
/**
* Get the last moving direction of the bot.
- * @return 1 is forward, 2 is backward.
+ * @return DIRECTION_FORWARD or DIRECTION_BACKWARD.
*/
uint8_t
asserv_get_last_moving_direction (void);
@@ -198,6 +198,12 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
void
asserv_go_to_the_wall (uint8_t backward);
+/** Push the wall and initialise position. Use -1 for coordinates to keep
+ * unchanged. */
+void
+asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y,
+ uint16_t init_a);
+
/**
* Move the motor0.
* Motor0 class command.