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-rw-r--r--digital/io/src/getsamples.h26
1 files changed, 7 insertions, 19 deletions
diff --git a/digital/io/src/getsamples.h b/digital/io/src/getsamples.h
index 81d5ca6a..bf127d29 100644
--- a/digital/io/src/getsamples.h
+++ b/digital/io/src/getsamples.h
@@ -26,28 +26,16 @@
* }}} */
/**
- * Get samples FSM associated data.
- */
-struct getsamples_data_t
-{
- /**
- * The angle to approach the distributor.
- */
- int16_t approach_angle;
- /**
- * Bit field to indicate where to put the sample.
- * If bit 0 is set to 1, a sample will be put into the out_right_box. If
- * set to 0, the out_right_box will not be used to store a sample.
- */
- uint8_t sample_bitfield;
-};
-
-/**
* Start the get samples FSM.
- * @param data get sample data initial configuration.
+ * @param approach_angle the angle of approach to face the distributor
+ * @param sample_bitfield a bit-field to indicate where to put the collected
+ * samples. For example, if the bit 0 is set to 1, the sample took will be put
+ * into the box id 0 (out_right_box). Otherwise, if this bit is set to 0, the
+ * out_right box will not be use to store the sample. This parameter is also
+ * used to know the number of samples to collect from the distributor.
*/
void
-getsamples_start (struct getsamples_data_t data);
+getsamples_start (int16_t approach_angle, uint8_t sample_bitfield);
/**
* Configure the classifier (using the trap and the internal bit field) for