/**
* This function processes the movement commands that the behaviours generate.
* Depending on the values in the behaviour_command_t struct, it sets motor
* speed, moves a given distance or rotates.
*/
void moveCommand(behaviour_command_t * cmd)
{
if(cmd->move_value > 0) // move or rotate?
{
writeString("cmd->move_value > 0\n");
if(cmd->rotate){
rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
writeString("rotate\n");
}else if(cmd->move){
move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
writeString("move\n");
}
cmd->move_value = 0; // clear move value - the move commands are only
// given once and then runs in background.
}
else if(!(cmd->move || cmd->rotate)) // just move at speed?
{
changeDirection(cmd->dir);
moveAtSpeed(cmd->speed_left,cmd->speed_right);
}
else if(isMovementComplete()) // movement complete? --> clear flags!
{
writeString("mouvement complete\n");
cmd->rotate = false;
cmd->move = false;
}
}
void moveCommand(behaviour_command_t * cmd)
{
if(cmd->move_value > 0)
{
if(cmd->rotate)
rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
else if(cmd->move)
move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
cmd->move_value = 0;
}
else if(!(cmd->move || cmd->rotate))
{
changeDirection(cmd->dir);
moveAtSpeed(cmd->speed_left,cmd->speed_right);
}
else if(isMovementComplete())
{
cmd->rotate = false;
cmd->move = false;
}
}
