#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) /** No particular direction. */ #define DIRECTION_NONE 0 /** Forward direction, along the robot X axis. */ #define DIRECTION_FORWARD 1 /** Backward, opposite the robot X axis. */ #define DIRECTION_BACKWARD 2 /** Team color, determine the start zone side. */ enum team_color_e { TEAM_COLOR_RIGHT = 0, TEAM_COLOR_LEFT = 1 }; /** Current team color, to be read at start up. */ extern enum team_color_e team_color; #endif /* defs_h */