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authorNicolas Schodet2010-05-13 00:46:21 +0200
committerNicolas Schodet2010-05-13 00:46:21 +0200
commit953ff53ccf92e700c7c25136eabbe6699caa90f9 (patch)
treeae5bcb08266c5c604297d392adce8050ac9cb164 /digital/io/src/move.h
parent3858cf3814d073a279309acbc587648bb10609b9 (diff)
digital/io/src: make angle optional in move FSM
Diffstat (limited to 'digital/io/src/move.h')
-rw-r--r--digital/io/src/move.h6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/move.h b/digital/io/src/move.h
index c504a0b2..214fddba 100644
--- a/digital/io/src/move.h
+++ b/digital/io/src/move.h
@@ -47,6 +47,8 @@ struct move_data_t
{
/** Final position. */
position_t final;
+ /** Use angle consign for final point. */
+ uint8_t with_angle;
/** Next step. */
vect_t step;
/** Backward direction allowed flag. */
@@ -71,6 +73,10 @@ extern struct move_data_t move_data;
void
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);
+
/** To be called when obstacles positions are computed. */
void
move_obstacles_update (void);