aversive_10-03-12/modules/devices/robot/trajectory_manager/trajectory_manager.h

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/*  
 *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 *  Revision : $Id: trajectory_manager.h,v 1.8 2008-04-13 16:55:31 zer0 Exp $
 *
 */

#ifndef TRAJECTORY_MANAGER
#define TRAJECTORY_MANAGER

#include <aversive.h>
#include <vect2.h>
#include <robot_system.h>

enum trajectory_state {
        READY,

        /* simple trajectories */
        RUNNING_A,
        RUNNING_D,
        RUNNING_AD,

        /* trajectories using events */
        RUNNING_XY_START,
        RUNNING_XY_ANGLE,
        RUNNING_XY_ANGLE_OK,
        RUNNING_XY_F_START,
        RUNNING_XY_F_ANGLE,
        RUNNING_XY_F_ANGLE_OK,
};


struct trajectory {
        enum trajectory_state state; /*<< describe the type of target, and if we reached the target */

        union {
                vect2_cart cart;     
                struct rs_polar pol; 
        } target;

        double d_win;      
        double a_win_rad;  
        double a_start_rad;
        uint16_t d_speed;  
        uint16_t a_speed;  
        struct robot_position * position; 
        struct robot_system * robot;      
        struct cs * csm_angle;    
        struct cs * csm_distance; 
        int8_t scheduler_task;    
};

void trajectory_init(struct trajectory * traj);

void trajectory_set_cs(struct trajectory * traj, struct cs * cs_d, 
                       struct cs * cs_a);

void trajectory_set_robot_params(struct trajectory * traj, 
                                 struct robot_system * rs, 
                                 struct robot_position * pos) ;

void trajectory_set_speed(struct trajectory * traj, int16_t d_speed, int16_t a_speed);

void trajectory_set_windows(struct trajectory * traj, double d_win, 
                            double a_win_deg, double a_start_deg);

uint8_t trajectory_finished(struct trajectory* traj);

uint8_t trajectory_in_window(struct trajectory* traj, double d_win, double a_win_rad);

/* simple commands */

void trajectory_stop(struct trajectory * traj);

void trajectory_hardstop(struct trajectory * traj);

void trajectory_d_rel(struct trajectory * traj, double d_cm);

void trajectory_only_d_rel(struct trajectory * traj, double d_cm);

void trajectory_a_rel(struct trajectory * traj, double a_deg);

void trajectory_a_abs(struct trajectory * traj, double a_deg);

void trajectory_turnto_xy(struct trajectory* traj, double x_abs_cm, double y_abs_cm);

void trajectory_turnto_xy_behind(struct trajectory* traj, double x_abs_cm, double y_abs_cm);

void trajectory_only_a_rel(struct trajectory * traj, double a_deg);

void trajectory_d_a_rel(struct trajectory * traj, double d_cm, double a_deg);

/* commands using events */

void trajectory_goto_xy_abs(struct trajectory * traj, double x_abs_cm, double y_abs_cm);

void trajectory_goto_forward_xy_abs(struct trajectory * traj, double x_abs_cm, double y_abs_cm);

void trajectory_goto_d_a_rel(struct trajectory* traj, double d, double a);

void trajectory_goto_xy_rel(struct trajectory* traj, double x_rel_cm, double y_rel_cm);

#endif //TRAJECTORY_MANAGER

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