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+#ifndef move_h
+#define move_h
+/* move.h */
+/* guybrush - Eurobot 2012 AI. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * 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"
+#include "bot.h"
+
+/** Real radius of an obstacle. */
+#define MOVE_REAL_OBSTACLE_RADIUS 150
+
+/** Obstacle radius for the path module.
+ * It corresponds to the real radius of the obstacle plus the distance you
+ * want to add to avoid it. */
+#define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \
+ + RADAR_CLEARANCE_MM \
+ + BOT_SIZE_SIDE)
+
+/** Obstacle validity time (in term of number of cycles). */
+#define MOVE_OBSTACLE_VALIDITY (3 * 225)
+
+/** Go to a position, see asserv.h for backward argument. */
+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, int16_t shorten);
+
+/** Stop movement. */
+void
+move_stop (void);
+
+/** To be called when obstacles positions are computed. */
+void
+move_obstacles_update (void);
+
+/** Check for blocking obstacles, return non zero if an event is handled. */
+uint8_t
+move_check_obstacles (void);
+
+#endif /* move_h */