File content as of revision 39:cc8691700d2a:

/**
 * @file    main.h
 * @brief   Main header file for includes and defs 
 * @author  John Wilkey
 * @author  Alec Guertin
 * @author  Chester Chu
 */
 
#ifndef _MAIN_H
#define _MAIN_H

#include "mbed.h"
#include "m3pi.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
#include <math.h>

// Constants used in main.c
#define TURN_SPEED  0.15    /**< Motor power for turning */
#define DRIVE_SPEED 0.25    /**< Motor power for drawing/moving */
#define TIME_FACT 1780      /**< Multiplier for forward() and backward() */
#define CAL_SPEED .25       /**< Drive speed during calibration */
#define CLOSE_ENOUGH .0008  /**< Threshold for calibration line centering */
#define WIGGLE_MAX 30       /**< Max 'wiggles' during calibration */
#define CORNER_THRESHOLD 0.3 /**< Threshold for checking if line position denotes a corner */
#define INST_BUF_SIZE 250 /**< Size of input buffer for instructions */
#define CORRECTION_SPEED 0.2*DRIVE_SPEED /**< Amount to change speed of one wheel when following line */
#define CORRECTION_THRESHOLD 0.05 /**< Maximum tolerable deviation from line when following line */
#define RAD_TO_DEG  57.29 /**< Factor to convert radians to degrees */
#define FULL_TURN   360 /**< Degrees for a full turn */
#define HALF_TURN   180 /**< Degrees for a half turn */
#define QUARTER_TURN    90 /**< Degrees for a quarter (right angle) turn */
#define CAL_FACTOR  1.1 /**< Scaling factor for time to drive */
#define DEGREE_CORRECTION 0 /**< Amount (in degrees) added to the angle for each turn */
#define SEC_TO_MSEC 1000 /**< Scaling factor to convert seconds to milliseconds */
#define SEC_TO_USEC 1000000 /**< Scaling factor to convert seconds to microseconds */
#define MSEC_TO_USEC 1000 /**< Scaling factor to convert milliseconds to microseconds */

/** @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 for a time.
 *
 * @param[in]   amt     Amount to drive forward. In milliseconds.
 */
void forward(int amt);

/**
 * @brief Drive backward for a time.
 *
 * @param[in]   amt     Amount to drive backward. In milliseconds.
 */
void backward(int amt);

/**
 * @brief Turn right by some angle.
 *
 * @param[in]   deg     Desired final turn angle in degrees from start.
 *                      Note that a negative angle will turn in the opposite
 *                      direction.
 */
void right(float deg);

/**
 * @brief Turn left by some angle.
 *
 * @param[in]   deg     Desired final turn angle in degrees from start.
 *                      Note that a negative angle will turn in the opposite
 *                      direction.
 */
void left (float deg);

/**
 * @brief   Wait for a number of seconds, possibly fractional.
 * 
 * Timer resolution is on the order of microseconds. A negative wait
 * time does nothing. 
 *
 * @param[in]   amt     Time to wait, in seconds.
 */
void timerWait(float amt);

int find_corner(int left);

void find_line();

float distance(int x1, int y1, int x2, int y2);

void robot_printf(int line, const char *format, ...);

float compute_turn_angle(int last_x, int last_y, int x, int y, float angle);
#endif