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authorNélio Laranjeiro2008-03-06 23:59:22 +0100
committerNélio Laranjeiro2008-03-06 23:59:22 +0100
commit52b48ade5532145b56402242eacdaf594c693440 (patch)
tree0b2947d5a507fc6419a60e2ad242efd27db738a5 /digital
parent6263ed441f45d636d9a66f94e0bc30eaca13459f (diff)
Added the ia header file.
Diffstat (limited to 'digital')
-rw-r--r--digital/io/src/ia.h60
1 files changed, 60 insertions, 0 deletions
diff --git a/digital/io/src/ia.h b/digital/io/src/ia.h
new file mode 100644
index 00000000..28f5257b
--- /dev/null
+++ b/digital/io/src/ia.h
@@ -0,0 +1,60 @@
+#ifndef ia_h
+#define ia_h
+/* ia.h */
+/* {{{
+ *
+ * Copyright (C) 2008 Nélio Laranjeiro
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/** Load balls procedure from a distributor.
+ *
+ * 1. Rotate the arm to the desired position to allow the robot to load x
+ * balls.
+ * 2. Go backward, this will allow the robot to continue rotating the arm and
+ * load the balls.
+ * 3. Stop the arm and put it to its initial position to disallow the robot
+ * to take undesired balls.
+ *
+ * See trunk/digital/io/doc/loadballs.png (use the make command before)
+ *
+ * \param balls_nb the quantity of ball to load.
+ */
+void
+ia_load_balls (uint8_t balls_nb);
+
+/** Get samples procedure. Request the robot to go and get some sample of the
+ * team color or ice samples.
+ *
+ * 1. Go to the position in front of the distributor.
+ * 2. Prepare the arm to get samples.
+ * 3. Go forward with a controled speed to get the samples.
+ * 4. Prepare the classifier to classify the samples.
+ * 5. loadballs with the quantity of samples desired.
+ * 6. Continue classifier
+ *
+ * See trunk/digital/io/doc/getSamples.png and
+ * trunk/digital/io/doc/loadballs.png (use make to get the png files).
+ */
+void
+ia_get_samples (void);
+
+#endif /* ia_h */