From 52b48ade5532145b56402242eacdaf594c693440 Mon Sep 17 00:00:00 2001 From: Nélio Laranjeiro Date: Thu, 6 Mar 2008 23:59:22 +0100 Subject: Added the ia header file. --- digital/io/src/ia.h | 60 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 digital/io/src/ia.h 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 */ -- cgit v1.2.3