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root / trunk / code / lib / include / libdragonfly / move.h @ 7

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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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