Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

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Dependencies:   mbed-rtos mbed QEI

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Show/hide line numbers motion.h Source File

motion.h

00001 #ifndef EUROBOT_PROCESSES_MOTION_MOTION_H_
00002 #define EUROBOT_PROCESSES_MOTION_MOTION_H_
00003 
00004 #include "globals.h"
00005 #include "rtos.h"
00006 
00007 namespace motion
00008 {
00009 
00010 extern volatile int collavoiden;
00011 
00012 void motionlayer(void const *dummy);
00013 void waypoint_motion_handler();
00014 
00015 // supports both polling on sticky bit via checkMotionStatus(), waiting/blocking on signal 0x1 in setter thread (signalled upon reaching the wp)
00016 void setNewWaypoint(osThreadId setter_tid_in, Waypoint *new_wp);
00017 bool checkMotionStatus();
00018 
00019 
00020 // TODO: consider making mutex private and pushing all usage into API funcs
00021 extern Mutex waypoint_flag_mutex;
00022 
00023 }
00024 
00025 #endif //EUROBOT_PROCESSES_MOTION_MOTION_H_
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