File content as of revision 22:46b9d9b2e35c:

/**
 * @file    main.h
 * @brief   Main header file for includes and whatnot 
 *          for the other project files.
 * @author  John Wilkey
 */
 
#ifndef _MAIN_H
#define _MAIN_H

#include "mbed.h"
#include "m3pi.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
#include <math.h>
#define TURN_SPEED  0.15
#define DRIVE_SPEED 0.2
#define ERR_SUCCESS 0
#define ERR_FAILURE 1
#define DRIVE_RATE  1/50
#define TIME_FACT 1820
#define CAL_SPEED .1
#define CLOSE_ENOUGH .0008


/**
 * @brief   move the robot from its current position to (x,y)
 *
 */
void move(int x, int y, int draw);

/**
 * @brief get values of next PostScript instruction.
 *
 * @param       buf     Buffer with PS instructions.
 * @param       x       Pointer to storage for x coordinate.
 * @param       y       Pointer to storage for y coordinate.
 * @param       draw    Pointer to storage for draw/move boolean.
 * 
 * @return              Success or failure code.
 */
int retrieve_inst(char *buf, int *x, int *y, int *draw);

/**
 * @brief Driver forward.
 *
 * @param[in]   amt     Amount to drive forward. In centimeters.
 * @return              Success or failure. 
 */
int forward(int amt);

/**
 * @brief Drive backward.
 *
 * @param[in]   amt     Amount to drive backward. In centimeters.
 * @return              Success or failure. 
 */
int backward(int amt);

/**
 * @brief Turn right.
 *
 * @param[in]   deg     Desired final turn angle from starting position.
 * @param[in]   spd     Desired turning speed.
 * @return              Success or failure. 
 */
int right(float deg);

/**
 * @brief Turn left.
 *
 * @param[in]   deg     Desired final turn angle from starting position.
 * @param[in]   spd     Desired turning speed.
 * @return              Success or failure. 
 */
int left (float deg);

/**
 * @brief Enable pen motion. 
 *
 * Note that at the moment, for simplicity, this method just activates an LED
 * on the expansion board to indicate that the pen should be in DOWN mode. 
 */
void pen_down();
 
 /**
  * @brief Raise pen
  */
void pen_up();
  

/**
 * @brief Controller decision logic.
 *
 * Decide what to do next based on the status of the drawing so far.
 */
void next_action();

/**
 * @brief Wait for a number of seconds, possibly fractional.
 *
 * This is because mBed wait() function SUCKS
 */
void timerWait(float);

#endif