#ifndef getsamples_h #define getsamples_h /* getsamples.h */ /* {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * 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 "common.h" /** * Get samples FSM associated data. */ struct getsamples_data_t { /** * The angle to approach to face the distributor. */ int16_t approach_angle; /** * Bit-field to indicate where to put the collected samples. * For example, if the bit 0 is set to 1, the sample took will be put into * the box id 0 (out_right_box). Otherwise, if this bit is set to 0, the * out_right box will not be use to store the sample. This parameter is * also used to know the number of samples to collect from the * distributor. */ uint8_t sample_bitfield; /** Position of the arm where we want to be awken. */ uint16_t arm_noted_position; uint8_t direction; }; /** * Start the get samples FSM. * @param approach_angle the angle of approach to face the distributor * @param sample_bitfield a bit-field to indicate where to put the collected * samples. For example, if the bit 0 is set to 1, the sample took will be put * into the box id 0 (out_right_box). Otherwise, if this bit is set to 0, the * out_right box will not be use to store the sample. This parameter is also * used to know the number of samples to collect from the distributor. */ void getsamples_start (int16_t approach_angle, uint8_t sample_bitfield, uint8_t direction); #endif /* getsamples_h */