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/move.c | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) (limited to 'digital/io/src/move.c') diff --git a/digital/io/src/move.c b/digital/io/src/move.c index c30e5ace..7acc6c8b 100644 --- a/digital/io/src/move.c +++ b/digital/io/src/move.c @@ -34,20 +34,14 @@ */ struct move_data_t move_data; -/** - * Go to a position with the start FSM. - * @param position_x the X position. - * @param position_y the Y position. - * @param backward_movement_allowed do we allow backward movement? - */ void -move_start (uint16_t position_x, uint16_t position_y, uint8_t - backward_movement_allowed) +move_start (asserv_position_t position, uint8_t backward) { /* Set parameters. */ - move_data.final.x = position_x; - move_data.final.y = position_y; - move_data.backward_movement_allowed = backward_movement_allowed; + move_data.final.x = position.x; + move_data.final.y = position.y; + move_data.final.a = position.a; + move_data.backward_movement_allowed = backward; /* XXX */ main_always_stop_for_obstacle = 1; /* Reset move FSM flags */ -- cgit v1.2.3