This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Processes/Motion/motion.h@87:272a7129b04b, 2013-04-16 (annotated)
- Committer:
- madcowswe
- Date:
- Tue Apr 16 12:24:25 2013 +0000
- Revision:
- 87:272a7129b04b
- Parent:
- 76:532d9bc1d2aa
Red 57
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rsavitski | 24:50805ef8c499 | 1 | #ifndef EUROBOT_PROCESSES_MOTION_MOTION_H_ |
rsavitski | 24:50805ef8c499 | 2 | #define EUROBOT_PROCESSES_MOTION_MOTION_H_ |
rsavitski | 24:50805ef8c499 | 3 | |
rsavitski | 24:50805ef8c499 | 4 | #include "globals.h" |
rsavitski | 24:50805ef8c499 | 5 | #include "rtos.h" |
rsavitski | 24:50805ef8c499 | 6 | |
rsavitski | 24:50805ef8c499 | 7 | namespace motion |
rsavitski | 24:50805ef8c499 | 8 | { |
rsavitski | 24:50805ef8c499 | 9 | |
madcowswe | 66:f1d75e51398d | 10 | extern volatile int collavoiden; |
madcowswe | 66:f1d75e51398d | 11 | |
rsavitski | 24:50805ef8c499 | 12 | void motionlayer(void const *dummy); |
rsavitski | 57:d434ceab6892 | 13 | void waypoint_motion_handler(); |
rsavitski | 24:50805ef8c499 | 14 | |
rsavitski | 76:532d9bc1d2aa | 15 | // supports both polling on sticky bit via checkMotionStatus(), waiting/blocking on signal 0x1 in setter thread (signalled upon reaching the wp) |
rsavitski | 57:d434ceab6892 | 16 | void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp); |
rsavitski | 57:d434ceab6892 | 17 | bool checkMotionStatus(); |
rsavitski | 57:d434ceab6892 | 18 | |
rsavitski | 57:d434ceab6892 | 19 | |
rsavitski | 57:d434ceab6892 | 20 | // TODO: consider making mutex private and pushing all usage into API funcs |
rsavitski | 39:44d3dea4adcc | 21 | extern Mutex waypoint_flag_mutex; |
rsavitski | 39:44d3dea4adcc | 22 | |
rsavitski | 24:50805ef8c499 | 23 | } |
rsavitski | 24:50805ef8c499 | 24 | |
rsavitski | 24:50805ef8c499 | 25 | #endif //EUROBOT_PROCESSES_MOTION_MOTION_H_ |