/* recovery.h */ /* Beacon recovery mode. {{{ * * Copyright (C) 2012 Florent Duchon * * 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. * * }}} */ #ifndef _RECOVERY_H #define _RECOVERY_H #include "position.h" #define MAX_POINT_RECOVERY 5 #define RECOVERY_TRICKY_THRESHOLD MAX_POINT_RECOVERY/3 /* Status returns */ typedef enum { RECOVERY_IN_PROGRESS, RECOVERY_FINISHED, RECOVERY_IGNORE_ANGLE_NEXT_TIME } TRecoveryStatus; /* This function is used to calculate all obstacle positions from sractch */ TRecoveryStatus recovery(coord_s * new_point,robot_s result[MAX_OBSTACLE]); #endif