avr/modules_avr/asserv/microb/trajectory/trajectory.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.h,v 1.7 2005/05/02 09:10:56 zer0 Exp $
 *
 */

#ifndef _TRAJECTORY_H_
#define _TRAJECTORY_H_

#include <utils/utils.h>

void trajectory_init(void);

void trajectory_straight(s16 pos_cm);

inline void trajectory_gotoxy(s16 x, s16 y);
inline void trajectory_gotoa(s16 a);
inline void trajectory_gotoa_fromxy(s16 x, s16 y);

void trajectory_set_speed_alpha(u16 speed_deg_s);
void trajectory_set_speed_theta(u16 speed_cm_s);

#endif

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