summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/trap.h
diff options
context:
space:
mode:
authorJérémy Dufour2008-03-19 11:34:01 +0100
committerJérémy Dufour2008-03-19 11:34:01 +0100
commit193dd6732798199a4a94749188a56635fda6dd90 (patch)
tree5475506a41cf72460a2e7d6326d7a48bedcc412f /digital/io/src/trap.h
parent624f2f2aade9f87ff22f56e0b5a9999cdd1db458 (diff)
* digital/io/src
- add trap module (not integrated in the io program); - add eeprom module to support load/store parameters (for the trap module); - partial integration of eeprom in the io program.
Diffstat (limited to 'digital/io/src/trap.h')
-rw-r--r--digital/io/src/trap.h99
1 files changed, 99 insertions, 0 deletions
diff --git a/digital/io/src/trap.h b/digital/io/src/trap.h
new file mode 100644
index 00000000..9a1af575
--- /dev/null
+++ b/digital/io/src/trap.h
@@ -0,0 +1,99 @@
+#ifndef trap_h
+#define trap_h
+/* trap.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2008 Dufour Jrmy
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 Module to control the traps (using servo module).
+ * It is a higher interface to the servo module more simple to use.
+ * The traps and the servos motor are organized in the following ways:
+ * @verbatim
+ * +---+----+---+----+---+
+ * G | L | ML | M | MR | R |
+ * +---+----+---+----+---+
+ * 0 1 2 ^ 3 4
+ * @endverbatim
+ * In the scheme, the target boxes for the balls are identified by letters,
+ * and the servo motors that control the traps are identified by a number:
+ * - L: left;
+ * - ML: middle left;
+ * - M: middle;
+ * - MR: middle right;
+ * - R: right.
+ * Balls are entering in the system between the 2 and 3 traps, where the ^
+ * symbol is.
+ * If the ball want to go M, traps 2 and 3 must be vertical.
+ * To go to ML, trap 4 must be vertical, 2 must be horizontal and 1 must be
+ * vertical.
+ * To go to the garbage, trap 3 must be vertical and traps 0, 1 and 2 must be
+ * horizontal.
+ */
+
+#include "servo.h" /* SERVO_NUMBER */
+#include "common.h" /* uint8_t */
+
+/**
+ * Trap high time values for the different positions (horizontal and
+ * vertical).
+ * We need to declare it as external to be able to use it from the EEPROM
+ * module.
+ */
+extern uint8_t trap_high_time_pos[2][SERVO_NUMBER];
+
+/**
+ * Trap module initialization.
+ * It initializes the sub-module servo.
+ */
+void
+trap_init (void);
+
+/**
+ * List of boxes where to store balls.
+ */
+typedef enum trap_box_id_e
+{
+ /** Throw away ball. */
+ garbage = 0,
+ /** Most left box. */
+ out_left_box,
+ /** Middle left box. */
+ middle_left_box,
+ /** Box for the middle slot. */
+ middle_box,
+ /** Middle right box. */
+ middle_right_box,
+ /** Most right box. */
+ out_right_box,
+} trap_box_id_e;
+
+/**
+ * Configure traps to open a path to a box.
+ * This function will setup all the servo open a path to the desired box.
+ * @param box the box where you want the path to lead to.
+ */
+void
+trap_setup_path_to_box (trap_box_id_e box);
+
+#endif /* trap_h */