From b9d646e41511eb5443faad66b8fc1c7323b2e738 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Tue, 8 Apr 2008 00:02:53 +0200 Subject: Tested the move FSM machine. --- digital/io/src/move.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/io/src/move.h') diff --git a/digital/io/src/move.h b/digital/io/src/move.h index a416043d..99997bc3 100644 --- a/digital/io/src/move.h +++ b/digital/io/src/move.h @@ -25,6 +25,8 @@ * * }}} */ +#include "asserv.h" + /** move FSM associated data. */ struct move_data_t { @@ -42,4 +44,14 @@ extern struct move_data_t move_data; void move_start (uint32_t position_x, uint32_t position_y); +/** Verify if the position desired is in the table use when the robot tries to + * reach a point and a obstacle is in front of it. + * \param pos the robot's current position on the table. + * \param new_pos the position computed to go to. + * \return true if the it can reach the position. + */ +uint8_t +move_can_go_on_left_or_right (asserv_position_t current_pos, + asserv_position_t new_pos); + #endif /* move_h */ -- cgit v1.2.3