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authorJérémy Dufour2008-04-14 12:00:59 +0200
committerJérémy Dufour2008-04-14 12:00:59 +0200
commita87f059b7acdc9f00b2102249a647a51f8389de4 (patch)
treed542d1e6b560a69ffd7319375756e8d2fbb71fb1 /digital/io/src/giboulee.h
parent197fb2f8192e083df38427a1dfa4b67ddebde525 (diff)
* digital/io/src
* asserv - improve the API of the arm functions to ease usage ; - add a new function to put the arm to the position to close the input hole. * get sample FSM - keep only the needed and real events ; - correctly names the states ; - improve the function to select where to put the samples ; * general - add headers for some standard configuration defines. * trap - add another entry to the enum to know its length.
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+#ifndef giboulee_h
+#define giboulee_h
+// giboulee.h
+// io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+//
+// Copyright (C) 2008 Dufour Jérémy
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+/**
+ * @file Some defines for the bot itself.
+ * In this header file, you can find some configuration value for the length
+ * of a step when the bot is moving for example.
+ */
+
+/**
+ * The speed of the arm.
+ * It is expressed in number of steps by asserv board cycle (4.44ms).
+ */
+#define BOT_ARM_SPEED 3
+
+/**
+ * The number of step of a whole rotation.
+ */
+#define BOT_ARM_STEP_ROUND 5000
+
+/**
+ * Number of step to make a third of a round.
+ */
+#define BOT_ARM_THIRD_ROUND BOT_ARM_STEP_ROUND / 3
+
+#endif // giboulee_h