From 9d26b60d08f937ba49962ebfeaa3664f5527bf1a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 17 May 2011 01:58:19 +0200 Subject: digital/asserv: add robospierre model --- digital/asserv/src/asserv/models.host.h | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/asserv/src/asserv/models.host.h') diff --git a/digital/asserv/src/asserv/models.host.h b/digital/asserv/src/asserv/models.host.h index 403e9cd9..d8f1dcb8 100644 --- a/digital/asserv/src/asserv/models.host.h +++ b/digital/asserv/src/asserv/models.host.h @@ -27,6 +27,8 @@ #define ECHANT_PERIOD (1.0 / (14745600.0 / 256 / 256)) +#define CORNERS_NB 4 + /** Define a robot and its peripherals. * Encoder characteristics are defined at gearbox output. */ struct robot_t @@ -55,6 +57,11 @@ struct robot_t int aux_encoder_steps[AC_ASSERV_AUX_NB]; /** Sensor update function. */ void (*sensor_update) (void); + /** Table test function, return false if given robot point is not in + * table. */ + int (*table_test) (double p_x, double p_y); + /** Robot corners, from front left, then clockwise. */ + double corners[CORNERS_NB][2]; }; /** Get a pointer to a model by name, or return 0. */ -- cgit v1.2.3