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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file move.h
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 * @brief Contains definitions for controlling robot motion
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 * 
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 * This file offers higher-level functions for robot motion.
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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#ifndef _MOVE_H_
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#define _MOVE_H_
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/**
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 * @addtogroup move
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 * @{
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 **/
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/** @brief Move forwards **/
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#define FWD 0
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/** @brief Move backwards **/
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#define BCK 1
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/** @brief A slow speed **/
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#define SLOW_SPD 96
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/** @brief Half of the full speed **/
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#define HALF_SPD 128
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/** @brief A normal speed **/
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#define NRML_SPD 160
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/** @brief A fast speed **/
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#define FAST_SPD 192
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/** @brief The maximum speed **/
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#define FULL_SPD 255
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/** @brief A slow turning speed **/
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#define SLOW_TURN 64
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/** @brief A medium turning speed **/
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#define NRML_TURN 96
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/** @brief A high turning speed **/
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#define FAST_TURN 128
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/** @brief Move the robot at the specified velocity **/
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void move(int velocity, int omega);
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/** @brief Move the robot while avoiding obstacles **/
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void move_avoid(int velocity, int omega, int strength);
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/** @} **/
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#endif
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