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-rw-r--r--digital/io/src/path.h10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io/src/path.h b/digital/io/src/path.h
index de70a14f..aea50f40 100644
--- a/digital/io/src/path.h
+++ b/digital/io/src/path.h
@@ -25,18 +25,28 @@
*
* }}} */
+/** Initialise path finder. */
void
path_init (void);
+/** Setup end points (source and destination coordinates). */
void
path_endpoints (int16_t sx, int16_t sy, int16_t dx, int16_t dy);
+/** Set up an obstacle at given position with the given radius and validity
+ * period. */
void
path_obstacle (uint8_t i, int16_t x, int16_t y, uint16_t r, uint16_t valid);
+/** Slowly make the obstacles disappear. */
+void
+path_decay (void);
+
+/** Compute shortest path. */
void
path_update (void);
+/** Retrieve first path point coordinates. Return 0 on failure. */
uint8_t
path_get_next (uint16_t *x, uint16_t *y);