From 092057218111adb25119f0099c5ad951a5b10d69 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 2 May 2011 22:48:05 +0200 Subject: digital/{ai,io}: move defines to ai --- digital/ai/src/common/defs.h | 56 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 56 insertions(+) create mode 100644 digital/ai/src/common/defs.h (limited to 'digital/ai/src/common/defs.h') diff --git a/digital/ai/src/common/defs.h b/digital/ai/src/common/defs.h new file mode 100644 index 00000000..f16e9e52 --- /dev/null +++ b/digital/ai/src/common/defs.h @@ -0,0 +1,56 @@ +#ifndef defs_h +#define defs_h +/* defs.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2010 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 "modules/math/geometry/geometry.h" +#include "modules/math/geometry/vect.h" + +/** General purpose defines. */ + +/** Structure defining a position with an angle. */ +struct position_t +{ + /** Cartesian position in millimeters, (0, 0) is at bottom left. */ + vect_t v; + /** Angle, counter-clockwise, [0, 1), f0.16. + * For example, 0x8000 means 0.5, which means 180 degrees. */ + uint16_t a; +}; +typedef struct position_t position_t; + +/** Convert degrees to an angle usable in position_t. */ +#define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a) + +/** Team color, determine the start zone side. */ +enum team_color_e +{ + TEAM_COLOR_LEFT = 0, + TEAM_COLOR_RIGHT = 1 +}; + +/** Current team color, to be read at start up. */ +extern enum team_color_e team_color; + +#endif /* defs_h */ -- cgit v1.2.3