2 * Copyright Droids Corporation (2008)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: beacon.h,v 1.2 2009-05-27 20:04:07 zer0 Exp $
25 int32_t opponent_angle;
26 int32_t opponent_dist;
27 int32_t prev_opponent_angle;
28 int32_t prev_opponent_dist;
36 /* real encoder value: 3531.75 so, multiple by 4 to have round
38 #define BEACON_STEP_TOUR (14127L)
39 #define BEACON_OFFSET_CALIBRE 40
41 extern struct beacon beacon;
43 void beacon_dump(void);
44 void beacon_init(void);
45 void beacon_calibre_pos(void);
46 void beacon_start(void);
47 void beacon_stop(void);
48 void beacon_calc(void *dummy);
49 void beacon_angle_dist_to_x_y(int32_t angle, int32_t dist, int32_t *x, int32_t *y);
51 void beacon_reset_pos(void);
52 void beacon_set_consign(int32_t val);
54 int32_t encoders_spi_get_beacon_speed(void *dummy);
55 int32_t encoders_spi_update_beacon_speed(void *number);
56 int32_t encoders_spi_get_value_beacon(void *number);