beacon from 2009

[aversive.git] / projects / microb2010 / ballboard / beacon.h

diff --git a/projects/microb2010/ballboard/beacon.h b/projects/microb2010/ballboard/beacon.h
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+/*
+ *  Copyright Droids Corporation (2008)
+ *
+ *  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
+ *
+ *  Revision : $Id: beacon.h,v 1.2 2009-05-27 20:04:07 zer0 Exp $
+ *
+ */
+
+struct beacon {
+       int32_t beacon_speed;
+
+       int32_t opponent_angle;
+       int32_t opponent_dist;
+       int32_t prev_opponent_angle;
+       int32_t prev_opponent_dist;
+       int32_t robot_x;
+       int32_t robot_y;
+       int32_t robot_angle;
+       int32_t opponent_x;
+       int32_t opponent_y;
+};
+
+/* real encoder value: 3531.75 so, multiple by 4 to have round
+ * value */
+#define BEACON_STEP_TOUR (14127L)
+#define BEACON_OFFSET_CALIBRE 40
+
+extern struct beacon beacon;
+
+void beacon_dump(void);
+void beacon_init(void);
+void beacon_calibre_pos(void);
+void beacon_start(void);
+void beacon_stop(void);
+void beacon_calc(void *dummy);
+void beacon_angle_dist_to_x_y(int32_t angle, int32_t dist, int32_t *x, int32_t *y);
+
+void beacon_reset_pos(void);
+void beacon_set_consign(int32_t val);
+
+int32_t encoders_spi_get_beacon_speed(void *dummy);
+int32_t encoders_spi_update_beacon_speed(void *number);
+int32_t encoders_spi_get_value_beacon(void *number);
+