#ifndef move_h #define move_h /* move.h */ /* guybrush - Eurobot 2012 AI. {{{ * * Copyright (C) 2012 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 "defs.h" #include "bot.h" /** Real radius of an obstacle. */ #define MOVE_REAL_OBSTACLE_RADIUS 150 /** Obstacle radius for the path module. * It corresponds to the real radius of the obstacle plus the distance you * want to add to avoid it. */ #define MOVE_OBSTACLE_RADIUS (MOVE_REAL_OBSTACLE_RADIUS \ + RADAR_CLEARANCE_MM \ + BOT_SIZE_SIDE) /** Obstacle validity time (in term of number of cycles). */ #define MOVE_OBSTACLE_VALIDITY (3 * 225) /** Go to a position, see asserv.h for backward argument. */ void 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, int16_t shorten); /** Stop movement. */ void move_stop (void); /** To be called when obstacles positions are computed. */ void move_obstacles_update (void); /** Check for blocking obstacles, return non zero if an event is handled. */ uint8_t move_check_obstacles (void); #endif /* move_h */