/* 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 "move.h" #include "fsm.h" #include "bot.h" #include "radar.h" #include "asserv.h" #include "main.h" #include "modules/path/path.h" #include "modules/utils/utils.h" /** * Internal data used by the move FSM. */ struct move_data_t move_data; void move_start (position_t position, uint8_t backward) { /* Set parameters. */ move_data.final= position; move_data.backward_movement_allowed = backward; move_data.final_move = 0; /* Start the FSM. */ fsm_handle_event (&ai_fsm, AI_EVENT_move_start); } void move_obstacles_update (void) { uint8_t i; for (i = 0; i < main_obstacles_nb; i++) path_obstacle (i, main_obstacles_pos[i], MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY); } void move_check_obstacles (void) { if (fsm_can_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front)) { position_t robot_pos; asserv_get_position (&robot_pos); if (radar_blocking (&robot_pos.v, &move_data.step, main_obstacles_pos, main_obstacles_nb)) fsm_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front); } }