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+#ifndef asserv_h
+#define asserv_h
+/* asserv.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2008 Dufour Jérémy
+ *
+ * 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.
+ *
+ * }}} */
+#include "defs.h"
+
+/**
+ * @file Control the asserv board using the TWI protocol.
+ * This files contains the 'public' functions to send commands to the asserv
+ * board using a protocol over TWI communication.
+ */
+
+/** Slave number in twi_master list. */
+#define ASSERV_SLAVE 0
+
+/** Asserv TWI address. */
+#define ASSERV_TWI_ADDRESS 4
+
+/** Length of the status buffer (not including CRC). */
+#define ASSERV_STATUS_LENGTH 15
+
+/** Use backward movements. */
+#define ASSERV_BACKWARD 1
+/** Authorise reverse the requested movement direction, may be or'ed with the
+ * previous define. */
+#define ASSERV_REVERT_OK 2
+
+/** Initialize the asserv control module. */
+void
+asserv_init (void);
+
+/** Called when a new status buffer is received, update the asserv
+ * information. */
+void
+asserv_status_cb (uint8_t *status);
+
+/**
+ * Status of a move or motor class command.
+ * It is return by status functions.
+ */
+typedef enum asserv_status_e
+{
+ /** No status is available. The command is not finished yet. */
+ none,
+ /** The command has succeed. */
+ success,
+ /** The command has failed. The bot or the motor is blocked */
+ failure
+} asserv_status_e;
+
+/**
+ * Is last move class command has successfully ended?
+ * This function is used to know the status of the last move command. It looks
+ * at the status register.
+ * @return the status of the last move class command.
+ */
+asserv_status_e
+asserv_move_cmd_status (void);
+
+/**
+ * Is last motor0 class command has successfully ended?
+ * This function is used to know the status of the last motor0 command. It
+ * looks at the status register.
+ * @return the status of the last move class command.
+ */
+asserv_status_e
+asserv_motor0_cmd_status (void);
+
+/**
+ * Is last motor1 class command has successfully ended?
+ * This function is used to know the status of the last motor1 command. It
+ * looks at the status register.
+ * @return the status of the last move class command.
+ */
+asserv_status_e
+asserv_motor1_cmd_status (void);
+
+/**
+ * Get the current position of the bot.
+ * @param current_position the current position to update.
+ */
+void
+asserv_get_position (position_t *current_position);
+
+/**
+ * Get the motor0 position.
+ * @return the position of the motor0 (in steps).
+ */
+uint16_t
+asserv_get_motor0_position (void);
+
+/**
+ * Get the motor1 position.
+ * @return the position of the motor1 (in steps).
+ */
+uint16_t
+asserv_get_motor1_position (void);
+
+/**
+ * Are we moving forward/backward?
+ * @return
+ * - 0 we are not moving;
+ * - 1 we are moving forward;
+ * - 2 we are moving backward.
+ */
+uint8_t
+asserv_get_moving_direction (void);
+
+/**
+ * Get the last moving direction of the bot.
+ * @return 1 is forward, 2 is backward.
+ */
+uint8_t
+asserv_get_last_moving_direction (void);
+
+/**
+ * Reset the asserv board.
+ * Other class command.
+ */
+void
+asserv_reset (void);
+
+/**
+ * Free the motors (stop controlling them).
+ * Other class command.
+ */
+void
+asserv_free_motor (void);
+
+/**
+ * Stop the motor (and the bot).
+ * Other class command.
+ */
+void
+asserv_stop_motor (void);
+
+/**
+ * Move linearly.
+ * Move class command.
+ * @param distance the distance to move (mm).
+ */
+void
+asserv_move_linearly (int32_t distance);
+
+/**
+ * Move angularly (turn).
+ * Move class command.
+ * @param angle the angle to turn.
+ */
+void
+asserv_move_angularly (int16_t angle);
+
+/**
+ * Make the bot turn of an absolute angle.
+ * The angle is absolute and not a difference with the current one.
+ * @param a the absolute angle
+ */
+void
+asserv_goto_angle (int16_t angle);
+
+/**
+ * Go to an absolute position and then an absolute angle.
+ * @param x the absolute position on the X axis.
+ * @param y the absolute position on the Y axis.
+ * @param a the absolute angle.
+ * @param backward 0 no backward, ASSERV_BACKWARD backward compulsary,
+ * ASSERV_REVERT_OK backward allowed.
+ */
+void
+asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward);
+
+/**
+ * Go to the wall (moving backward).
+ * Move class command.
+ */
+void
+asserv_go_to_the_wall (uint8_t backward);
+
+/**
+ * Move the motor0.
+ * Motor0 class command.
+ * This function take the number of steps you want to move to. This is an
+ * absolute position.
+ * @param position desired goal position (in step).
+ * @param speed speed of the movement.
+ */
+void
+asserv_move_motor0_absolute (uint16_t position, uint8_t speed);
+
+/**
+ * Move the motor1.
+ * Motor1 class command.
+ * This function take the number of steps you want to move to. This is an
+ * absolute position.
+ * @param position desired goal position (in step).
+ * @param speed speed of the movement.
+ */
+void
+asserv_move_motor1_absolute (uint16_t position, uint8_t speed);
+
+/**
+ * Set current X position.
+ * Other class command.
+ * @param x X position.
+ */
+void
+asserv_set_x_position (int32_t x);
+
+/**
+ * Set current Y position.
+ * Other class command.
+ * @param y Y position.
+ */
+void
+asserv_set_y_position (int32_t y);
+
+/**
+ * Set current angular position.
+ * Other class command.
+ * @param angle angular position.
+ */
+void
+asserv_set_angle_position (int16_t angle);
+
+/**
+ * Set speeds of movements.
+ * Other class command.
+ * @param linear_high linear high speed
+ * @param angular_high angular high speed
+ * @param linear_low linear low speed
+ * @param angular_low angular low speed
+ */
+void
+asserv_set_speed (uint8_t linear_high, uint8_t angular_high,
+ uint8_t linear_low, uint8_t angular_low);
+
+/**
+ * Set the complete position of the bot.
+ * This is an helpful function preventing you from calling multiples other
+ * ones.
+ * It calls other class commands.
+ * @param x X position
+ * @param y Y position
+ * @param angle angular position
+ */
+void
+asserv_set_position (int32_t x, int32_t y, int16_t angle);
+
+/**
+ * Go to an absolute position in (X, Y).
+ * @param x the x position on the table.
+ * @param y the y position on the table.
+ * @param backward 0 no backward, ASSERV_BACKWARD backward compulsary,
+ * ASSERV_REVERT_OK backward allowed.
+ */
+void
+asserv_goto (uint32_t x, uint32_t y, uint8_t backward);
+
+/** Reset the motor0 to the zero position. */
+void
+asserv_motor0_zero_position (int8_t speed);
+
+/** Reset the motor1 to the zero position. */
+void
+asserv_motor1_zero_position (int8_t speed);
+
+/** Set PWM to zero for motor0. */
+void
+asserv_motor0_free (void);
+
+/** Set PWM to zero for motor1. */
+void
+asserv_motor1_free (void);
+
+#endif /* asserv_h */