2018-04-04 16:17:13 +02:00
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/*
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* Fonctions de déplacment du robot
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*/
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2018-02-16 15:44:45 +01:00
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2018-04-04 16:17:13 +02:00
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#ifndef __MOVEMENT_H_
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#define __MOVEMENT_H_
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2018-02-16 15:44:45 +01:00
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2018-05-09 04:10:45 +02:00
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#define ANGLE_INSIGNIFIANT NAN
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2018-05-11 15:58:18 +02:00
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// #define ENABLE_SECURITE
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2018-05-09 09:57:11 +02:00
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2018-04-04 16:17:13 +02:00
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#include "position.h"
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2018-05-11 15:58:18 +02:00
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// Public
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2018-04-04 16:17:13 +02:00
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void configureMovement();
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void deconfigureMovement();
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2018-05-06 18:35:26 +02:00
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void setDestination(struct position* pos);
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2018-05-09 04:10:45 +02:00
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void waitDestination();
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2018-05-11 15:58:18 +02:00
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void enableAsservissement();
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void disableAsservissement();
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// Private
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void* TaskMovement(void* pData);
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2018-04-04 16:17:13 +02:00
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#endif
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