summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/sharp.h
diff options
context:
space:
mode:
authorJérémy Dufour2008-05-01 00:57:16 +0200
committerJérémy Dufour2008-05-01 00:57:16 +0200
commit94ed449899985636256b5228d5e0f6bba5af2971 (patch)
treeb6ce5ee5b89bc795652f8e9564394e9a492affa1 /digital/io/src/sharp.h
parente03562b2b6fc1914b4d848fc6a6940ed55e4214a (diff)
* digital/io/src
- add a function to the sharp module to know if there is a obstacle in front of us (by taking in account the current moving direction of the bot).
Diffstat (limited to 'digital/io/src/sharp.h')
-rw-r--r--digital/io/src/sharp.h14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io/src/sharp.h b/digital/io/src/sharp.h
index 2417856e..3011e095 100644
--- a/digital/io/src/sharp.h
+++ b/digital/io/src/sharp.h
@@ -110,4 +110,18 @@ void sharp_set_threshold (uint8_t sharp_id, uint16_t low, uint16_t high);
*/
uint8_t sharp_get_interpreted (uint8_t sharp_id);
+/**
+ * Is there an obstacle in front of the bot?
+ * This function correctly handles the moving direction of the bot to check
+ * only the necessary sharps.
+ * @param moving_direction
+ * - 1 when moving forward ;
+ * - 2 when moving backward.
+ * @return
+ * - 0 if there is nothing in front ;
+ * - 1 if there is an obstacle in front of the bot.
+ */
+uint8_t
+sharp_path_obstrued (uint8_t moving_direction);
+
#endif /* sharp_h */