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+#ifndef move_hh
+#define move_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// 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.
+//
+// }}}
+#include "defs.hh"
+#include "asserv.hh"
+
+/// Move FSM control.
+class Move
+{
+ public:
+ enum NextMove
+ {
+ NONE,
+ LINEAR,
+ ANGULAR,
+ };
+ public:
+ /// Go to a position.
+ void start (const Position &position,
+ Asserv::DirectionConsign direction_consign = Asserv::FORWARD,
+ int shorten = 0);
+ /// Go to a position with no angle consign.
+ void start (const vect_t &position,
+ Asserv::DirectionConsign direction_consign = Asserv::FORWARD,
+ int shorten = 0);
+ /// Stop movement.
+ void stop ();
+ /// Check for blocking obstacles, return true if an event was handled.
+ bool check_obstacles ();
+ /// Go to current step, low level function.
+ void go ();
+ /// Go or rotate toward position, return LINEAR or ANGULAR.
+ NextMove go_or_rotate (const vect_t &dst, uint16_t angle, bool with_angle,
+ Asserv::DirectionConsign direction_consign);
+ /// Go to next position computed by path module, to be called by
+ /// path_init and path_next, return LINEAR or ANGULAR.
+ NextMove go_to_next (const vect_t &dst);
+ /// Compute path and go to first position, return NONE, LINEAR or ANGULAR.
+ NextMove path_init ();
+ /// Go to next position in path, return LINEAR or ANGULAR.
+ NextMove path_next ();
+ public:
+ /// Final position.
+ Position final_;
+ /// Use angle consign for final point.
+ bool with_angle_;
+ /// Direction consign of the whole movement.
+ Asserv::DirectionConsign direction_consign_;
+ /// Distance to remove from path.
+ int shorten_;
+ /// Next step.
+ vect_t step_;
+ /// Next step angle.
+ uint16_t step_angle_;
+ /// Next step with_angle.
+ bool step_with_angle_;
+ /// Next step direction consign.
+ Asserv::DirectionConsign step_direction_consign_;
+ /// Next step is the final move.
+ bool step_final_move_;
+ /// If true, this means this is a tricky move, slow down, and minimize
+ /// turns.
+ bool slow_;
+};
+
+#endif // move_hh