#ifndef getsamples_h #define getsamples_h /* getsamples.h */ /* {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * 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. * * }}} */ /** * Get samples FSM associated data. */ struct getsamples_data_t { /** * The angle to approach the distributor. */ int16_t approach_angle; /** * Bit field to indicate where to put the sample. * If bit 0 is set to 1, a sample will be put into the out_right_box. If * set to 0, the out_right_box will not be used to store a sample. */ uint8_t sample_bitfield; }; /** * Start the get samples FSM. * @param data get sample data initial configuration. */ void getsamples_start (struct getsamples_data_t data); /** * Configure the classifier (using the trap and the internal bit field) for * the first bit set to 1. * After the configuring the classifier, the bit will be reset to 0 to use the * next one when calling this function again. */ void getsamples_configure_classifier (void); #endif /* getsamples_h */