Submitted version of the thesis - Airlab, the Artificial Intelligence ...

B.1. Microprocessor Code 113
/*
* Motion.h
*
* Created on: Jan 19, 2011
* Author: Administrator
*/
#ifndef MOTION_H_
#define MOTION_H_
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Module private variables --------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void Triskar(s16* destination, s8 omega, s16* vt);
void Direct_Motion(s16* destination, s8 angle, s16* speed);
#endif /* MOTION_H_ */
————–Misc.c.——————
/* Standard include ----------------------------------------------------------*/
#include "91x_map.h"
#include "utils.h"
#include "definitions.h"
#include "definitionsLib.h"
#include "CamInt_x24.h"
#include "usb_lib.h"
#include "usb_conf.h"
#include "usb_prop.h"
#include "usb_pwr.h"
#include "usb_config.h"
#include "RGBCube.h"
#include "blobsearch.h"
#include "math.h"
/* Include of other module interface headers ---------------------------------*/
/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/