Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file move.h

 * @brief Contains definitions for controlling robot motion

 * 

 * This file offers higher-level functions for robot motion.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _MOVE_H_

#define _MOVE_H_

/**

 * @defgroup move Movement

 * @brief Functions fo controlling robot motion

 * Higher level functions to control the movement of robots.

 * 

 * @{

 **/

/** @brief Move forwards **/

#define FWD 0

/** @brief Move backwards **/

#define BCK 1

/** @brief A slow speed **/

#define SLOW_SPD 96

/** @brief Half of the full speed **/

#define HALF_SPD 128

/** @brief A normal speed **/

#define NRML_SPD 160

/** @brief A fast speed **/

#define FAST_SPD 192

/** @brief The maximum speed **/

#define FULL_SPD 255

/** @brief A slow turning speed **/

#define SLOW_TURN 64

/** @brief A medium turning speed **/

#define NRML_TURN 96

/** @brief A high turning speed **/

#define FAST_TURN 128

/**

 * @brief Move the robot at the specified velocity

 *

 * Causes the robot to move with the given translation and rotational velocities.

 * motors_init must be called before this function can be used.

 *

 * @param velocity the translational velocity of the robot, in the range -255 to 255.

 * A positive value indicates forward motion, while a negative value indicates

 * backwards motion.

 * 

 * @param omega the rotational velocity of the robot, in the range -255 to 255.

 * A positive value indicates a counterclockwise velocity, while a negative

 * value indicates a clockwise velocity.

 *

 * @see motors_init, motor1_set, motor2_set

 **/

void move(int velocity, int omega);

/**

 * @brief Move the robot while avoiding obstacles

 *

 * Moves the robot with the given translational and angular velocities

 * while avoiding obstacles. To be effective, this function must be

 * called repeatedly throughout the motion. It relies on the IR

 * rangefinders to detect obstacles. Before calling this function,

 * motors_init and range_init must be called.

 *

 * @param velocity the translational velocity of the robot, in the

 * range -255 to 255. A positive value indicates forward motion.

 *

 * @param omega the rotational velocity of the robot, in the range

 * -255 to 255. A positive value indicates a counterclockwise velocity.

 *

 * @param strength the strength of the avoid behavior, in the range

 * 0 to 100.

 *

 * @see motors_init, range_init, move

 **/

void move_avoid(int velocity, int omega, int strength);

/** @} **/

#endif