root / branches / autonomous_recharging / code / projects / autonomous_recharging / charging_station / charging.h @ 98
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1 | 98 | bcoltin | /**
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2 | * @file charging.h Charging
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3 | *
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4 | * @brief Charging station functions
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5 | *
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6 | * Contains functions for the charging station, controlling
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7 | * bay management, homing beacons and BOMS.
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8 | **/
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9 | |||
10 | /**
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11 | * @defgroup charging Charging Station
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12 | *
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13 | * @brief Charging Station Functionality
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14 | *
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15 | * Contains functions for the charging station,
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16 | * controlling bay management, the homing beacons
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17 | * and BOMS.
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18 | *
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19 | * @{
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20 | **/
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21 | |||
22 | //possible robot states
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23 | #define STATE_NOT_CHARGING 1 |
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24 | #define STATE_SEEKING 2 |
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25 | #define STATE_DOCKED 3 |
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26 | |||
27 | /** @brief Initialize charging **/
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28 | void charging_init(void); |
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29 | |||
30 | /** @brief Initialize an iterator through the robots **/
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31 | void charging_robot_iterator_init(void); |
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32 | /** @brief Check if there is another robot to iterate through **/
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33 | int charging_robot_iterator_has_next(void); |
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34 | /** @brief Get the next robot's id **/
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35 | int charging_robot_iterator_next(void); |
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36 | |||
37 | /** @brief Get the verify count for a robot **/
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38 | int charging_get_verify_count(int robot); |
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39 | /** @brief Set the verify count for a robot **/
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40 | void charging_set_verify_count(int robot, int count); |
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41 | |||
42 | /** @brief Cancel charging for a robot **/
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43 | void charging_cancel(int robot); |
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44 | /** @brief Begin seeking for a robot **/
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45 | void charging_begin_seeking(int robot); |
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46 | /** @brief Dock a robot with the charging station **/
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47 | void charging_dock(int robot); |
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48 | |||
49 | /** @brief Check if room is available to charge **/
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50 | int charging_is_space_available(void); |
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51 | /** @brief Check if a robot is currently seeking **/
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52 | int charging_is_robot_seeking(void); |
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53 | /** @brief Get the supposed state of a robot **/
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54 | int charging_get_robot_state(int robot); |
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55 | |||
56 | /** @} **/
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