#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 "defs.h" /** Real radius of an obstacle. */ #define MOVE_REAL_OBSTACLE_RADIUS 150 /** Obstacle radius for the path module. * It corresponds to the real radius of the obstacle plus the distance you * want to add to avoid it. */ #define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \ + RADAR_CLEARANCE_MM \ + BOT_SIZE_SIDE) /** Obstacle validity time (in term of number of cycles). */ #define MOVE_OBSTACLE_VALIDITY (3 * 225) /** * Move FSM associated data. */ struct move_data_t { /** Final position. */ position_t final; /** Use angle consign for final point. */ uint8_t with_angle; /** Next step. */ vect_t step; /** Next step angle. */ uint16_t step_angle; /** Next step with_angle. */ uint8_t step_with_angle; /** Next step backward. */ uint8_t step_backward; /** Non zero means this is a tricky move, slow down, and minimize * turns. */ uint8_t slow; /** 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 (position_t position, uint8_t backward); /** Go to a position, with no angle consign. */ void move_start_noangle (vect_t position, uint8_t backward); /** To be called when obstacles positions are computed. */ void move_obstacles_update (void); /** Check for blocking obstacles, return non zero if an event is handled. */ uint8_t move_check_obstacles (void); #endif /* move_h */