From 35d59d44b1b2fa98de77192cefffd0018acd1048 Mon Sep 17 00:00:00 2001 From: Jérôme Jutteau Date: Mon, 30 May 2011 13:08:51 +0200 Subject: digital/io-hub: add special cases and when clamp is broken --- digital/io-hub/src/robospierre/logistic.h | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) (limited to 'digital/io-hub/src/robospierre/logistic.h') diff --git a/digital/io-hub/src/robospierre/logistic.h b/digital/io-hub/src/robospierre/logistic.h index 93101064..05b640db 100644 --- a/digital/io-hub/src/robospierre/logistic.h +++ b/digital/io-hub/src/robospierre/logistic.h @@ -44,12 +44,17 @@ struct logistic_t uint8_t collect_direction; /** Idle clamp position, depend on collect direction. */ uint8_t clamp_pos_idle; - /** A tower is possible. */ - uint8_t tower_possible; - /** 0 if we can't build a tower, 1 if we can? */ - uint8_t tower_authorized; - /** Inform if a tower is ready and which side. */ - uint8_t tower_ready_side; + /** Inform TOP if no construct is possible (0), if a tower is possible (1), if an + * other element can be put even if the clamp is broken (2). */ + uint8_t construct_possible; + /** TOP set 0 if we do not want to build something, 1 if we can build a tower, 2 to prepare + anything possible, 3 the clamp is broken, prepare anything with *_BOTTOM. */ + uint8_t prepare; + /** Inform TOP if a construct is ready (1) or not (0). */ + uint8_t ready; + /* Inform TOP that we can't take any more elements and needs to put + * construction somewhere. */ + uint8_t need_prepare; }; /** Global context. */ -- cgit v1.2.3