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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/move.c
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/move.c')
-rw-r--r--digital/io/src/move.c16
1 files changed, 5 insertions, 11 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index c30e5ace..7acc6c8b 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -34,20 +34,14 @@
*/
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)
+move_start (asserv_position_t position, uint8_t backward)
{
/* Set parameters. */
- move_data.final.x = position_x;
- move_data.final.y = position_y;
- move_data.backward_movement_allowed = backward_movement_allowed;
+ move_data.final.x = position.x;
+ move_data.final.y = position.y;
+ move_data.final.a = position.a;
+ move_data.backward_movement_allowed = backward;
/* XXX */
main_always_stop_for_obstacle = 1;
/* Reset move FSM flags */