#ifndef defs_hh #define defs_hh // io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 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 "ucoolib/common.hh" /// General purpose definitions. extern "C" { #include "modules/math/geometry/geometry.h" #include "modules/math/geometry/vect.h" } /// Position with an angle. struct Position { /// 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; }; /// Convert degrees to an angle usable in Position. #define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a) /// Moving direction. enum Direction { /// No direction or unknown. DIRECTION_NONE, /// Forward direction, along the robot X axis. DIRECTION_FORWARD, /// Backward direction, opposite to the robot X axis. DIRECTION_BACKWARD, }; /// Team color, determine the start zone side. enum TeamColor { /// Start on the right side, every coordinates are mirrored. TEAM_COLOR_RIGHT = 0, /// Start on the left side. TEAM_COLOR_LEFT = 1, /// Initial value, should never be read. TEAM_COLOR_UNKNOWN = 2 }; /// Current team color, sampled early during the setup stage. extern TeamColor team_color; #endif // defs_hh