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authorNicolas Schodet2011-05-20 08:27:02 +0200
committerNicolas Schodet2011-05-20 08:27:02 +0200
commit2277c9a7aa41c347ba04fca8e202c77b43618802 (patch)
treea73904b3ed877677411caecadaf83ee5b3ff6319 /digital/io-hub/src/robospierre/init_defs.h
parentc3274377f05073c6d40265ab7849df2a72cfd54e (diff)
digital/{ai,io-hub}: add init FSM
Diffstat (limited to 'digital/io-hub/src/robospierre/init_defs.h')
-rw-r--r--digital/io-hub/src/robospierre/init_defs.h50
1 files changed, 50 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/init_defs.h b/digital/io-hub/src/robospierre/init_defs.h
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+++ b/digital/io-hub/src/robospierre/init_defs.h
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+#ifndef init_defs_h
+#define init_defs_h
+/* init_defs.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * 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 "playground.h"
+#include "bot.h"
+
+/** Parameters to push the first wall. */
+#define INIT_FIRST_WALL_PUSH \
+ 0, PG_X (BOT_FRONT_CONTACT_DIST_MM), 200, \
+ PG_A_DEG (180 + BOT_FRONT_CONTACT_ANGLE_ERROR_DEG)
+/** Parameters to go away from the first wall. */
+#define INIT_FIRST_WALL_AWAY -500
+/** Parameter to face the second wall. */
+#define INIT_SECOND_WALL_ANGLE PG_A_DEG (90)
+/** Parameters to push the second wall. */
+#define INIT_SECOND_WALL_PUSH \
+ 0, -1, PG_Y (PG_LENGTH - BOT_FRONT_CONTACT_DIST_MM), -1
+/** Parameters to go away from the second wall. */
+#define INIT_SECOND_WALL_AWAY -(200 - BOT_FRONT_CONTACT_DIST_MM)
+/** Parameter to face the start position. */
+#define INIT_START_POSITION_ANGLE PG_A_DEG (0)
+/** Start position. */
+#define INIT_START_POSITION \
+ PG_X (200), PG_Y (PG_LENGTH - 200), PG_A_DEG (0), ASSERV_BACKWARD
+
+#endif /* init_defs_h */