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/* 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;
    /* 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);
}