summaryrefslogtreecommitdiff
path: root/digital/io/src/move.h
diff options
context:
space:
mode:
authorJérémy Dufour2009-05-20 16:04:33 +0200
committerJérémy Dufour2009-05-20 16:04:33 +0200
commit73bbc9e206772e928878126187789448ab3d0d47 (patch)
tree4514afbe063ceb91e8f757752d2344b73e17683a /digital/io/src/move.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/move.h')
-rw-r--r--digital/io/src/move.h13
1 files changed, 8 insertions, 5 deletions
diff --git a/digital/io/src/move.h b/digital/io/src/move.h
index 1b1621af..40fadf30 100644
--- a/digital/io/src/move.h
+++ b/digital/io/src/move.h
@@ -25,6 +25,8 @@
*
* }}} */
+#include "asserv.h"
+
/**
* A position.
*/
@@ -34,6 +36,8 @@ typedef struct move_position_t
uint16_t x;
/** Y position. */
uint16_t y;
+ /** A angle. */
+ uint16_t a;
} move_position_t;
/**
@@ -60,12 +64,11 @@ extern 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?
+ * @param position the destination position.
+ * @param backward_movement_allowed 0, no backward, 1 backward is allowed, 2
+ * backward is compulsary.
*/
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);
#endif /* move_h */