/* move.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * 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" #include "asserv.h" #include "move.h" #include "fsm.h" #define MOVE_BORDER_END 500 #define MOVE_ANGLE_0 0x0 #define MOVE_ANGLE_90 0x4000 #define MOVE_ANGLE_180 0x8000 #define MOVE_ANGLE_270 0xC000 struct move_data_t move_data; /** Start a move FSM. */ void move_start (uint32_t position_x, uint32_t position_y) { /* Set parameters. */ move_data.position_x = position_x; move_data.position_y = position_y; /* Start the FSM. */ fsm_init (&move_fsm); fsm_handle_event (&move_fsm, MOVE_EVENT_start); } /** 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 desired by the user. * \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) { // Go on right. if (new_pos.x > current_pos.x) { if (new_pos.x - current_pos.x < 3000 - MOVE_BORDER_END) return 0x1; else return 0x0; } // go on left. else { if (current_pos.x - new_pos.x < MOVE_BORDER_END) return 0x1; else return 0x0; } } /** Go to the right. */ void move_go_to_right (void) { asserv_position_t pos; asserv_position_t new_pos; asserv_get_position (&pos); new_pos.x = pos.x - MOVE_BORDER_LEVEL; new_pos.y = pos.y; new_pos.a = pos.a; if (move_can_go_on_left_or_right (pos, new_pos)) { asserv_goto (new_pos.x, new_pos.y); } } /** Go to the left. */ void move_go_to_left (void) { asserv_position_t pos; asserv_position_t new_pos; asserv_get_position (&pos); new_pos.x = pos.x + MOVE_BORDER_LEVEL; new_pos.y = pos.y; new_pos.a = pos.a; if (move_can_go_on_left_or_right (pos, new_pos)) { asserv_goto (new_pos.x, new_pos.y); } return move_next (MOVE_ON_LEFT, failed); }