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authorJérémy Dufour2008-04-14 12:04:01 +0200
committerJérémy Dufour2008-04-14 12:04:01 +0200
commit011fd3e4e4d252d02df156a7679c6156cdc72c6a (patch)
treed766f5ca92fc3ed04d54e8b0a9d307864dcf912f /digital/io/src/asserv.c
parent72a35dab91098de10cbabf72f2f8cdf45186a2ea (diff)
* digital/io/src
* asserv - add an goto_angle (not implemented yet). * get sample FSM - the get sample FSM will not call any other FSM (like the move). Instead, it assumes we are already at the right place, we just ensure the angle is correct ; - update the first state in consequences ; - add an angle as parameters (maybe we can remove the X/Y). * general defines - add define to ease the opening of the input hole.
Diffstat (limited to 'digital/io/src/asserv.c')
-rw-r--r--digital/io/src/asserv.c10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index d7d383c4..0b801a13 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -350,6 +350,16 @@ asserv_move_angularly (int16_t angle)
asserv_twi_send_command ('a', 2);
}
+/* Move the bot to a specific angle. */
+void
+asserv_goto_angle (int16_t angle)
+{
+ /* Put angle as parameter */
+ asserv_twi_buffer_param[0] = v16_to_v8 (angle, 1);
+ asserv_twi_buffer_param[1] = v16_to_v8 (angle, 0);
+ /* TODO */
+}
+
/* Go to the wall (moving backward). */
void
asserv_go_to_the_wall (void)