figure8calibration.nc

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/*									tab:4
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 * "Copyright (c) 2002 and The Regents of the University 
 * of California.  All rights reserved.
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 * documentation for any purpose, without fee, and without written agreement is
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 *
 * Authors:		Sarah Bergbreiter
 * Date last modified:  8/13/02
 *
 *
 */

interface Figure8Calibration {

  /**
   * setRightTurn. 
   * @param time: The time at which to make the right turn in the figure8.
   *  @return Always returns SUCCESS.
   */
  command result_t setRightTurn(uint8_t time);

  /**
   * setStraight1Turn. 
   * @param time: The time at which to make the first straight turn in 
   *  the figure8.
   *  @return Always returns SUCCESS.
   */
  command result_t setStraight1Turn(uint8_t time);

  /**
   * setLeftTurn. 
   * @param time: The time at which to make the left turn in the figure8.
   *  @return Always returns SUCCESS.
   */
  command result_t setLeftTurn(uint8_t time);

  /**
   * setStraight2Turn. 
   * @param time: The time at which to make the second straight turn in 
   *  the figure8.
   *  @return Always returns SUCCESS.
   */
  command result_t setStraight2Turn(uint8_t time);

  /**
   * setSpeed.
   * @param speed: The acceptable range is from 0-255.  However, a high
   *   speed with fresh batteries is somewhere around 70 or 80.  This is
   *   obviously a very critical parameter for an open-loop, timed figure8.
   */
  command result_t setSpeed(uint8_t speed);
}