/* 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" #include "main.h" /** * Internal data used by the move FSM. */ struct move_data_t move_data; /** * Go to a position with the start FSM. * @param position_x the X position. * @param position_y the Y position. * @param backward_movement_allowed do we allow backward movement? */ void move_start (uint16_t position_x, uint16_t position_y, uint8_t backward_movement_allowed) { /* Set parameters. */ move_data.final.x = position_x; move_data.final.y = position_y; move_data.backward_movement_allowed = backward_movement_allowed; /* XXX */ main_always_stop_for_obstacle = 1; /* Reset move FSM flags */ main_sharp_ignore_event = 0; main_move_wait_cycle = 0; /* Start the FSM. */ fsm_init (&move_fsm); fsm_handle_event (&move_fsm, MOVE_EVENT_start); }