#ifndef asserv_h #define asserv_h /* asserv.h */ /* ai - Robot Artificial Intelligence. {{{ * * Copyright (C) 2008 Dufour Jérémy * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "defs.h" /** * @file Control the asserv board using the TWI protocol. * This files contains the 'public' functions to send commands to the asserv * board using a protocol over TWI communication. */ /** Asserv TWI address. */ #define ASSERV_TWI_ADDRESS 4 /** Length of the status payload (not including CRC & seq). */ #define ASSERV_STATUS_LENGTH (10 + AC_ASSERV_AUX_NB * 2) /** Use backward movements. */ #define ASSERV_BACKWARD 1 /** Authorise reverse the requested movement direction, may be or'ed with the * previous define. */ #define ASSERV_REVERT_OK 2 /** Initialize the asserv control module. */ void asserv_init (void); /** Called when a new status buffer is received, update the asserv * information. */ void asserv_status_cb (uint8_t *status); /** * Status of a move or motor class command. * It is return by status functions. */ typedef enum asserv_status_e { /** No status is available. The command is not finished yet. */ none, /** The command has succeed. */ success, /** The command has failed. The bot or the motor is blocked */ failure } asserv_status_e; /** * Is last move class command has successfully ended? * This function is used to know the status of the last move command. It looks * at the status register. * @return the status of the last move class command. */ asserv_status_e asserv_move_cmd_status (void); #if AC_ASSERV_AUX_NB /** * Is last motor0 class command has successfully ended? * This function is used to know the status of the last motor0 command. It * looks at the status register. * @return the status of the last move class command. */ asserv_status_e asserv_motor0_cmd_status (void); /** * Is last motor1 class command has successfully ended? * This function is used to know the status of the last motor1 command. It * looks at the status register. * @return the status of the last move class command. */ asserv_status_e asserv_motor1_cmd_status (void); #endif /* AC_ASSERV_AUX_NB */ /** * Get the current position of the bot. * @param current_position the current position to update. */ void asserv_get_position (position_t *current_position); #if AC_ASSERV_AUX_NB /** * Get the motor0 position. * @return the position of the motor0 (in steps). */ uint16_t asserv_get_motor0_position (void); /** * Get the motor1 position. * @return the position of the motor1 (in steps). */ uint16_t asserv_get_motor1_position (void); #endif /* AC_ASSERV_AUX_NB */ /** * Are we moving forward/backward? * @return * - DIRECTION_NONE we are not moving; * - DIRECTION_FORWARD we are moving forward; * - DIRECTION_BACKWARD we are moving backward. */ uint8_t asserv_get_moving_direction (void); /** * Get the last moving direction of the bot. * @return DIRECTION_FORWARD or DIRECTION_BACKWARD. */ uint8_t asserv_get_last_moving_direction (void); /** * Reset the asserv board. * Other class command. */ void asserv_reset (void); /** * Free the motors (stop controlling them). * Other class command. */ void asserv_free_motor (void); /** * Stop the motor (and the bot). * Other class command. */ void asserv_stop_motor (void); /** * Move linearly. * Move class command. * @param distance the distance to move (mm). */ void asserv_move_linearly (int32_t distance); /** * Move angularly (turn). * Move class command. * @param angle the angle to turn. */ void asserv_move_angularly (int16_t angle); /** * Make the bot turn of an absolute angle. * The angle is absolute and not a difference with the current one. * @param a the absolute angle */ void asserv_goto_angle (int16_t angle); /** * Go to an absolute position and then an absolute 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, ASSERV_BACKWARD backward compulsary, * ASSERV_REVERT_OK backward allowed. */ void asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward); /** * Go to the wall (moving backward). * Move class command. */ void asserv_go_to_the_wall (uint8_t backward); /** Push the wall and initialise position. Use -1 for coordinates to keep * unchanged. */ void asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y, uint16_t init_a); #if AC_ASSERV_AUX_NB /** * Move the motor0. * Motor0 class command. * This function take the number of steps you want to move to. This is an * absolute position. * @param position desired goal position (in step). * @param speed speed of the movement. */ void asserv_move_motor0_absolute (uint16_t position, uint16_t speed); /** * Move the motor1. * Motor1 class command. * This function take the number of steps you want to move to. This is an * absolute position. * @param position desired goal position (in step). * @param speed speed of the movement. */ void asserv_move_motor1_absolute (uint16_t position, uint16_t speed); #endif /* AC_ASSERV_AUX_NB */ /** * Set current X position. * Other class command. * @param x X position. */ void asserv_set_x_position (int32_t x); /** * Set current Y position. * Other class command. * @param y Y position. */ void asserv_set_y_position (int32_t y); /** * Set current angular position. * Other class command. * @param angle angular position. */ void asserv_set_angle_position (int16_t angle); /** * Set speeds of movements. * Other class command. * @param linear_high linear high speed * @param angular_high angular high speed * @param linear_low linear low speed * @param angular_low angular low speed */ void asserv_set_speed (uint16_t linear_high, uint16_t angular_high, uint16_t linear_low, uint16_t angular_low); /** Set acceleration. */ void asserv_set_acc (uint16_t linear, uint16_t angular); /** * Set the complete position of the bot. * This is an helpful function preventing you from calling multiples other * ones. * It calls other class commands. * @param x X position * @param y Y position * @param angle angular position */ void asserv_set_position (int32_t x, int32_t y, int16_t angle); /** * Go to an absolute position in (X, Y). * @param x the x position on the table. * @param y the y position on the table. * @param backward 0 no backward, ASSERV_BACKWARD backward compulsary, * ASSERV_REVERT_OK backward allowed. */ void asserv_goto (uint32_t x, uint32_t y, uint8_t backward); #if AC_ASSERV_AUX_NB /** Reset the motor0 to the zero position. */ void asserv_motor0_zero_position (int16_t speed); /** Reset the motor1 to the zero position. */ void asserv_motor1_zero_position (int16_t speed); /** Set PWM to zero for motor0. */ void asserv_motor0_free (void); /** Set PWM to zero for motor1. */ void asserv_motor1_free (void); #endif /* AC_ASSERV_AUX_NB */ #endif /* asserv_h */