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authorJérôme Jutteau2011-05-30 13:08:51 +0200
committerJérôme Jutteau2011-05-30 18:20:47 +0200
commit35d59d44b1b2fa98de77192cefffd0018acd1048 (patch)
treec26aba1fe7f330e4b5dc8e787d726f4f7ac9018b /digital/io-hub/src/robospierre/logistic.h
parent826af7f2a4a4d6a372bc15fb764d8e50c43decf1 (diff)
digital/io-hub: add special cases and when clamp is broken
Diffstat (limited to 'digital/io-hub/src/robospierre/logistic.h')
-rw-r--r--digital/io-hub/src/robospierre/logistic.h17
1 files changed, 11 insertions, 6 deletions
diff --git a/digital/io-hub/src/robospierre/logistic.h b/digital/io-hub/src/robospierre/logistic.h
index 93101064..05b640db 100644
--- a/digital/io-hub/src/robospierre/logistic.h
+++ b/digital/io-hub/src/robospierre/logistic.h
@@ -44,12 +44,17 @@ struct logistic_t
uint8_t collect_direction;
/** Idle clamp position, depend on collect direction. */
uint8_t clamp_pos_idle;
- /** A tower is possible. */
- uint8_t tower_possible;
- /** 0 if we can't build a tower, 1 if we can? */
- uint8_t tower_authorized;
- /** Inform if a tower is ready and which side. */
- uint8_t tower_ready_side;
+ /** Inform TOP if no construct is possible (0), if a tower is possible (1), if an
+ * other element can be put even if the clamp is broken (2). */
+ uint8_t construct_possible;
+ /** TOP set 0 if we do not want to build something, 1 if we can build a tower, 2 to prepare
+ anything possible, 3 the clamp is broken, prepare anything with *_BOTTOM. */
+ uint8_t prepare;
+ /** Inform TOP if a construct is ready (1) or not (0). */
+ uint8_t ready;
+ /* Inform TOP that we can't take any more elements and needs to put
+ * construction somewhere. */
+ uint8_t need_prepare;
};
/** Global context. */