From 73bbc9e206772e928878126187789448ab3d0d47 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 20 May 2009 16:04:33 +0200 Subject: * digital/io/src: - add direction support in goto command, - move FSM use the angle for the end of the movement. --- digital/io/src/asserv.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index 7e2ba988..82f405c0 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -226,9 +226,10 @@ asserv_goto_angle (int16_t angle); * @param x the absolute position on the X axis. * @param y the absolute position on the Y axis. * @param a the absolute angle. + * @param backward 0 no backward, 1 backward possible, 2 backward compulsary. */ void -asserv_goto_xya (uint32_t x, uint32_t y, int16_t a); +asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward); /** * Go to the wall (moving backward). -- cgit v1.2.3