Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Processes/Motion/motion.h

Committer:
madcowswe
Date:
2013-04-17
Revision:
90:e4164bb8c60e
Parent:
76:532d9bc1d2aa

File content as of revision 90:e4164bb8c60e:

#ifndef EUROBOT_PROCESSES_MOTION_MOTION_H_
#define EUROBOT_PROCESSES_MOTION_MOTION_H_

#include "globals.h"
#include "rtos.h"

namespace motion
{

extern volatile int collavoiden;

void motionlayer(void const *dummy);
void waypoint_motion_handler();

// supports both polling on sticky bit via checkMotionStatus(), waiting/blocking on signal 0x1 in setter thread (signalled upon reaching the wp)
void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp);
bool checkMotionStatus();


// TODO: consider making mutex private and pushing all usage into API funcs
extern Mutex waypoint_flag_mutex;

}

#endif //EUROBOT_PROCESSES_MOTION_MOTION_H_