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-rw-r--r--digital/io/src/getsamples.h21
1 files changed, 21 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.h b/digital/io/src/getsamples.h
index e24056e2..70a76696 100644
--- a/digital/io/src/getsamples.h
+++ b/digital/io/src/getsamples.h
@@ -28,6 +28,27 @@
#include "common.h"
/**
+ * Get samples FSM associated data.
+ */
+struct getsamples_data_t
+{
+ /**
+ * The angle to approach to face the distributor.
+ */
+ int16_t approach_angle;
+ /**
+ * 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.
+ */
+ uint8_t sample_bitfield;
+};
+
+
+/**
* Start the get samples FSM.
* @param approach_angle the angle of approach to face the distributor
* @param sample_bitfield a bit-field to indicate where to put the collected