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authorJérémy Dufour2009-05-20 16:04:33 +0200
committerJérémy Dufour2009-05-20 16:04:33 +0200
commit73bbc9e206772e928878126187789448ab3d0d47 (patch)
tree4514afbe063ceb91e8f757752d2344b73e17683a /digital/io/src/asserv.h
parent702c66479a3599758cd3537ea9c966e8f84a4ef0 (diff)
* digital/io/src:
- add direction support in goto command, - move FSM use the angle for the end of the movement.
Diffstat (limited to 'digital/io/src/asserv.h')
-rw-r--r--digital/io/src/asserv.h3
1 files changed, 2 insertions, 1 deletions
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index 7e2ba988..82f405c0 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -226,9 +226,10 @@ 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.
*/
void
-asserv_goto_xya (uint32_t x, uint32_t y, int16_t a);
+asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
/**
* Go to the wall (moving backward).