#ifndef move_h #define move_h /* move.h */ /* 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 "asserv.h" /** * A position. */ typedef struct move_position_t { /** X position. */ uint16_t x; /** Y position. */ uint16_t y; /** A angle. */ uint16_t a; } move_position_t; /** * Move FSM associated data. */ struct move_data_t { /** Final position. */ move_position_t final; /** Intermediate position. */ move_position_t intermediate; /** Obstacle position. */ move_position_t obstacle; /** Backward direction allowed flag. */ uint8_t backward_movement_allowed; /** Try again counter. */ uint8_t try_again_counter; /** Dirty fix to know this is the final move. */ uint8_t final_move; }; /** * Move global data. */ extern struct move_data_t move_data; /** * Go to a position with the start FSM. * @param position the destination position. * @param backward_movement_allowed 0, no backward, 1 backward is allowed, 2 * backward is compulsary. */ void move_start (asserv_position_t position, uint8_t backward); #endif /* move_h */