From 32c28a77698a34f7fb5f0499553db05321afa9b5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 21 Mar 2013 00:33:59 +0100 Subject: digital/io-hub/src: add general and playground definitions --- digital/io-hub/src/common-cc/defs.hh | 72 ++++++++++++++++++++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 digital/io-hub/src/common-cc/defs.hh (limited to 'digital/io-hub/src/common-cc/defs.hh') diff --git a/digital/io-hub/src/common-cc/defs.hh b/digital/io-hub/src/common-cc/defs.hh new file mode 100644 index 00000000..4475b299 --- /dev/null +++ b/digital/io-hub/src/common-cc/defs.hh @@ -0,0 +1,72 @@ +#ifndef defs_hh +#define defs_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. +// +// }}} + +/// General purpose definitions. + +extern "C" { +#include "modules/math/geometry/geometry.h" +#include "modules/math/geometry/vect.h" +} + +/// Position with an angle. +struct Position +{ + /// Cartesian position in millimeters, (0, 0) is at bottom left. + vect_t v; + /// Angle, counter-clockwise, [0, 1), f0.16. + /// For example, 0x8000 means 0.5, which means 180 degrees. + uint16_t a; +}; + +/// Convert degrees to an angle usable in Position. +#define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a) + +/// Moving direction. +enum Direction +{ + /// No direction or unknown. + DIRECTION_NONE, + /// Forward direction, along the robot X axis. + DIRECTION_FORWARD, + /// Backward direction, opposite to the robot X axis. + DIRECTION_BACKWARD, +}; + +/// Team color, determine the start zone side. +enum TeamColor +{ + /// Start on the right side, every coordinates are mirrored. + TEAM_COLOR_RIGHT = 0, + /// Start on the left side. + TEAM_COLOR_LEFT = 1, + /// Initial value, should never be read. + TEAM_COLOR_UNKNOWN = 2 +}; + +/// Current team color, sampled early during the setup stage. +extern TeamColor team_color; + +#endif // defs_hh -- cgit v1.2.3