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authorJérémy Dufour2009-05-20 19:22:02 +0200
committerJérémy Dufour2009-05-20 19:22:02 +0200
commit503e3511b2fa42263749c62a9625e6549ac2fe2d (patch)
tree86826db066cceaf8a9351f0f0adb11327ed8a3f5 /digital/io/src/asserv.h
parentfbb64cf43457a96dc7757f649d9f2dc3d6243d19 (diff)
* digital/io/src:
- support backward parameter for the asserv_goto, - enhance to avoid static obstacle, - add center circle of the playground table.
Diffstat (limited to 'digital/io/src/asserv.h')
-rw-r--r--digital/io/src/asserv.h7
1 files changed, 5 insertions, 2 deletions
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index 82f405c0..06be268b 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -226,7 +226,8 @@ asserv_goto_angle (int16_t angle);
* @param x the absolute position on the X axis.
* @param y the absolute position on the Y axis.
* @param a the absolute angle.
- * @param backward 0 no backward, 1 backward possible, 2 backward compulsary.
+ * @param backward 0 no backward, ASSERV_BACKWARD backward compulsary,
+ * ASSERV_REVERT_OK backward allowed.
*/
void
asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
@@ -320,9 +321,11 @@ asserv_set_position (int32_t x, int32_t y, int16_t angle);
* Go to an absolute position in (X, Y).
* @param x the x position on the table.
* @param y the y position on the table.
+ * @param backward 0 no backward, ASSERV_BACKWARD backward compulsary,
+ * ASSERV_REVERT_OK backward allowed.
*/
void
-asserv_goto (uint32_t x, uint32_t y);
+asserv_goto (uint32_t x, uint32_t y, uint8_t backward);
/**
* Go to an absolute position at (X, Y) with backward enabled.