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authorNicolas Schodet2010-05-14 05:15:14 +0200
committerNicolas Schodet2010-05-14 05:15:14 +0200
commitdba92215c528ceb41708d34f7dcf0aa8bd07ff21 (patch)
treed55a38cc0faf6e9b0af39532718bad94978092da /digital/io/src/move.h
parent734b5b06dd0421c3c0ab9fbc282510801869ab4c (diff)
digital/io/src: add shorten option to move FSM
This will be used to collect corn.
Diffstat (limited to 'digital/io/src/move.h')
-rw-r--r--digital/io/src/move.h4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io/src/move.h b/digital/io/src/move.h
index 7e52c6b9..7f860802 100644
--- a/digital/io/src/move.h
+++ b/digital/io/src/move.h
@@ -66,6 +66,8 @@ struct move_data_t
uint8_t try_again_counter;
/** Dirty fix to know this is the final move. */
uint8_t final_move;
+ /** Distance to remove from path. */
+ int16_t shorten;
};
/**
@@ -84,7 +86,7 @@ move_start (position_t position, uint8_t backward);
/** Go to a position, with no angle consign. */
void
-move_start_noangle (vect_t position, uint8_t backward);
+move_start_noangle (vect_t position, uint8_t backward, int16_t shorten);
/** To be called when obstacles positions are computed. */
void