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-rw-r--r--digital/io/src/move.h12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io/src/move.h b/digital/io/src/move.h
index a416043d..99997bc3 100644
--- a/digital/io/src/move.h
+++ b/digital/io/src/move.h
@@ -25,6 +25,8 @@
*
* }}} */
+#include "asserv.h"
+
/** move FSM associated data. */
struct move_data_t
{
@@ -42,4 +44,14 @@ extern struct move_data_t move_data;
void
move_start (uint32_t position_x, uint32_t position_y);
+/** Verify if the position desired is in the table use when the robot tries to
+ * reach a point and a obstacle is in front of it.
+ * \param pos the robot's current position on the table.
+ * \param new_pos the position computed to go to.
+ * \return true if the it can reach the position.
+ */
+uint8_t
+move_can_go_on_left_or_right (asserv_position_t current_pos,
+ asserv_position_t new_pos);
+
#endif /* move_h */