Colony

/**

 * @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_

/**

 * @addtogroup move

 * @{

 **/

/** @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 **/

void move(int velocity, int omega);

/** @brief Move the robot while avoiding obstacles **/

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

/** @} **/

#endif