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authorNélio Laranjeiro2008-03-24 22:29:22 +0100
committerNélio Laranjeiro2008-03-24 22:29:22 +0100
commit689d78b5d4a57456152420b0e3f490480ad32b8f (patch)
tree962a143a91ec3920b35ad83878fbc8c86e7a512a /digital/io/src/ia.h
parent77ecd139efe72b436654b9204a2aa2cdca1988d8 (diff)
Update the FSM for the getsamples.
Diffstat (limited to 'digital/io/src/ia.h')
-rw-r--r--digital/io/src/ia.h54
1 files changed, 9 insertions, 45 deletions
diff --git a/digital/io/src/ia.h b/digital/io/src/ia.h
index 7ed9a571..3a11ed30 100644
--- a/digital/io/src/ia.h
+++ b/digital/io/src/ia.h
@@ -43,6 +43,12 @@
#define ASSERV_ARM_SPEED_FULL 100
#define ASSERV_ARM_SPEED_HALF (ASSERV_ARM_SPEED_FULL / 2)
+enum ia_team_e
+{
+ TEAM_COLOR_RED,
+ TEAM_COLOR_BLUE
+};
+
struct ia_t
{
/* Bool status of the previous sequence loaded.
@@ -55,6 +61,9 @@ struct ia_t
/* Bool status indicating our ice distributor status. */
bool ice_status_our;
+
+ /* Team color */
+ bool team_color;
};
@@ -63,49 +72,4 @@ struct ia_t
void
ia_init (void);
-/** Load balls procedure from a distributor.
- *
- * 1. Rotate the arm to the desired position to allow the robot to load x
- * balls.
- * 2. Go backward, this will allow the robot to continue rotating the arm and
- * load the balls.
- * 3. Stop the arm and put it to its initial position to disallow the robot
- * to take undesired balls.
- *
- * See trunk/digital/io/doc/loadballs.png (use the make command before)
- *
- * \param balls_nb the quantity of ball to load.
- */
-void
-ia_load_samples (uint8_t balls_nb);
-
-/** Get samples procedure. Request the robot to go and get some sample of the
- * team color or ice samples.
- *
- * 1. Go to the position in front of the distributor.
- * 2. Prepare the arm to get samples.
- * 3. Go forward with a controled speed to get the samples.
- * 4. Prepare the classifier to classify the samples.
- * 5. loadballs with the quantity of samples desired.
- * 6. Continue classifier
- *
- * See trunk/digital/io/doc/getSamples.png and
- * trunk/digital/io/doc/loadballs.png (use make to get the png files).
- *
- * \param blue the team color true if the robot is in the blue team.
- */
-void
-ia_get_samples (bool blue);
-
-/** Get ice.
- */
-void
-ia_get_ice (void);
-
-/** Depose the samples in the gutter.
- */
-void
-ia_depose_samples (void);
-
-
#endif /* ia_h */