From f753bc39682f980feb49b7ff1bb9e9594f986e6b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 19 May 2011 23:24:08 +0200 Subject: digital/asserv: add push the wall traj mode, closes #167 --- digital/ai/src/twi_master/asserv.h | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/ai/src/twi_master/asserv.h') diff --git a/digital/ai/src/twi_master/asserv.h b/digital/ai/src/twi_master/asserv.h index 2aa7a6f8..c9a52a11 100644 --- a/digital/ai/src/twi_master/asserv.h +++ b/digital/ai/src/twi_master/asserv.h @@ -198,6 +198,12 @@ asserv_goto_xya (uint32_t x, uint32_t y, int16_t a, uint8_t backward); void asserv_go_to_the_wall (uint8_t backward); +/** Push the wall and initialise position. Use -1 for coordinates to keep + * unchanged. */ +void +asserv_push_the_wall (uint8_t backward, uint32_t init_x, uint32_t init_y, + uint16_t init_a); + /** * Move the motor0. * Motor0 class command. -- cgit v1.2.3