summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/robospierre/move.h
blob: 72af5b84abe9919e73208ca1f9017f4a92fd6c4c (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
#ifndef move_h
#define move_h
/* move.h */
/* robospierre - Eurobot 2011 AI. {{{
 *
 * Copyright (C) 2011 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 */