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authorNicolas Schodet2011-05-19 23:24:08 +0200
committerNicolas Schodet2011-05-19 23:29:49 +0200
commitf753bc39682f980feb49b7ff1bb9e9594f986e6b (patch)
treeedda6060cfd233985c4804d054f712163c182837 /digital/ai/src/twi_master/asserv.h
parent453c275fb70db0bdd7258c3bedbd8897fa0b35cc (diff)
digital/asserv: add push the wall traj mode, closes #167
Diffstat (limited to 'digital/ai/src/twi_master/asserv.h')
-rw-r--r--digital/ai/src/twi_master/asserv.h6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/ai/src/twi_master/asserv.h b/digital/ai/src/twi_master/asserv.h
index 2aa7a6f8..c9a52a11 100644
--- a/digital/ai/src/twi_master/asserv.h
+++ b/digital/ai/src/twi_master/asserv.h
@@ -198,6 +198,12 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
void
asserv_go_to_the_wall (uint8_t backward);
+/** Push the wall and initialise position. Use -1 for coordinates to keep
+ * unchanged. */
+void
+asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y,
+ uint16_t init_a);
+
/**
* Move the motor0.
* Motor0 class command.