From 689d78b5d4a57456152420b0e3f490480ad32b8f Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Mon, 24 Mar 2008 22:29:22 +0100 Subject: Update the FSM for the getsamples. --- digital/io/src/ia.h | 54 +++++++++-------------------------------------------- 1 file changed, 9 insertions(+), 45 deletions(-) (limited to 'digital/io/src/ia.h') diff --git a/digital/io/src/ia.h b/digital/io/src/ia.h index 7ed9a571..3a11ed30 100644 --- a/digital/io/src/ia.h +++ b/digital/io/src/ia.h @@ -43,6 +43,12 @@ #define ASSERV_ARM_SPEED_FULL 100 #define ASSERV_ARM_SPEED_HALF (ASSERV_ARM_SPEED_FULL / 2) +enum ia_team_e +{ + TEAM_COLOR_RED, + TEAM_COLOR_BLUE +}; + struct ia_t { /* Bool status of the previous sequence loaded. @@ -55,6 +61,9 @@ struct ia_t /* Bool status indicating our ice distributor status. */ bool ice_status_our; + + /* Team color */ + bool team_color; }; @@ -63,49 +72,4 @@ struct ia_t void ia_init (void); -/** Load balls procedure from a distributor. - * - * 1. Rotate the arm to the desired position to allow the robot to load x - * balls. - * 2. Go backward, this will allow the robot to continue rotating the arm and - * load the balls. - * 3. Stop the arm and put it to its initial position to disallow the robot - * to take undesired balls. - * - * See trunk/digital/io/doc/loadballs.png (use the make command before) - * - * \param balls_nb the quantity of ball to load. - */ -void -ia_load_samples (uint8_t balls_nb); - -/** Get samples procedure. Request the robot to go and get some sample of the - * team color or ice samples. - * - * 1. Go to the position in front of the distributor. - * 2. Prepare the arm to get samples. - * 3. Go forward with a controled speed to get the samples. - * 4. Prepare the classifier to classify the samples. - * 5. loadballs with the quantity of samples desired. - * 6. Continue classifier - * - * See trunk/digital/io/doc/getSamples.png and - * trunk/digital/io/doc/loadballs.png (use make to get the png files). - * - * \param blue the team color true if the robot is in the blue team. - */ -void -ia_get_samples (bool blue); - -/** Get ice. - */ -void -ia_get_ice (void); - -/** Depose the samples in the gutter. - */ -void -ia_depose_samples (void); - - #endif /* ia_h */ -- cgit v1.2.3