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authorJérémy Dufour2008-04-30 01:38:38 +0200
committerJérémy Dufour2008-04-30 01:38:38 +0200
commitdf6bd29c4b37a0d1ffed7c4591484e49d9ca24ba (patch)
treeb3d3e51a0a20918a8e46ccb406a1c7bdcf9c038e /digital/io/src/move.c
parentec7e026ab256ccd5a8d345a902940b696b96114f (diff)
* digital/io/src
- rewrite the move FSM ; - integrate it into the main loop with the sharp and path module.
Diffstat (limited to 'digital/io/src/move.c')
-rw-r--r--digital/io/src/move.c12
1 files changed, 7 insertions, 5 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index 53709d07..2c0a0c5e 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -27,16 +27,18 @@
#include "move.h"
#include "fsm.h"
+/**
+ * Internal data used by the move FSM.
+ */
struct move_data_t move_data;
-/** Start a move FSM. */
+/* Go to a position with the start FSM. */
void
-move_start (uint32_t position_x, uint32_t position_y)
+move_start (uint16_t position_x, uint16_t position_y)
{
/* Set parameters. */
- move_data.position_x = position_x;
- move_data.position_y = position_y;
- move_data.nb_obstacle = 0;
+ move_data.final.x = position_x;
+ move_data.final.y = position_y;
/* Start the FSM. */
fsm_init (&move_fsm);
fsm_handle_event (&move_fsm, MOVE_EVENT_start);