/* Types */

typedef double speed_t;

typedef enum {

FORWARD,

BACKWARD,

} dir_t;

typedef double pos_t;

typedef double angle_t;

typedef struct

{

pos_t x;

pos_t y;

angle_t angle;

} pos_with_angle_t;

API

void asser_go_xy(pos_t x, pos_t y, speed_t speed, speed_t end_speed, dir_t direction);

void asser_go_relative(pos_t x, pos_t y, speed_t speed, speed_t end_speed, dir_t direction);

void asser_go_approx(pos_t distance, speed_t speed, dir_t direction);

void asser_pause(void);

void asser_restart(void);

pos_with_angle_t asser_get_pos(void);

boolean asser_get_state(void);

void asser_reset(void);

void asser_set_strategy_pid(pid_t pid);

int asser_get_fifo_depth(void);

void asser_set_motors(int left, int right, boolean brake_left, boolean brake_right);

2004-12-05T01:58:54