/***********************************************************************/ /** @name drive.h @author Birgit Graf, UWA, 1998 */ /***********************************************************************/ /*@{*/ /** Init VW interface. */ int InitDrive(); /** Change parameters for driving. */ void set_drv_parameters(); /** Print robot position. Print x- and y-coordiantes in cm and orientation in degrees on LCD. */ void print_pos(); /** Set robot coordinates. Set robots x and y positions. (0,0) = middle of own goal, looking towards opponents goal, y goes positive to left, x positive forwards, angle is positive to right, negative to left. */ void set_coordinates(); /** Move GOALKEEPER robot and output text (drive status) on LCD. Activate robot movement according to flags end_flag, obstacle_flag, got_ball_flag and see_ball_flag, concerning different priorities. */ void PPdrive_goal(); /** Move FIELD PLAYER robot and output text (drive status) on LCD. Activate robot movement according to flags end_flag, obstacle_flag, got_ball_flag and see_ball_flag, concerning different priorities. */ void PPdrive_field(); /*@}*/