From dba92215c528ceb41708d34f7dcf0aa8bd07ff21 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 05:15:14 +0200 Subject: digital/io/src: add shorten option to move FSM This will be used to collect corn. --- digital/io/src/move.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'digital/io/src/move.h') diff --git a/digital/io/src/move.h b/digital/io/src/move.h index 7e52c6b9..7f860802 100644 --- a/digital/io/src/move.h +++ b/digital/io/src/move.h @@ -66,6 +66,8 @@ struct move_data_t uint8_t try_again_counter; /** Dirty fix to know this is the final move. */ uint8_t final_move; + /** Distance to remove from path. */ + int16_t shorten; }; /** @@ -84,7 +86,7 @@ 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); +move_start_noangle (vect_t position, uint8_t backward, int16_t shorten); /** To be called when obstacles positions are computed. */ void -- cgit v1.2.3