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/home/jgoppert/Projects/ap/libraries/Waypoints/Waypoints.h

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00001 #ifndef Waypoints_h
00002 #define Waypoints_h
00003 
00004 #include <inttypes.h>
00005 #include "WProgram.h"
00006 #include <avr/eeprom.h>
00007 
00008 class Waypoints
00009 {
00010   public:
00011         Waypoints();
00012 
00013         struct WP {
00014                 uint8_t id;                                     // for commands
00015                 int8_t p1;                                      // for commands
00016                 int32_t alt;                            // Altitude in centimeters (meters * 100)
00017                 int32_t lat;                            // Lattitude * 10**7
00018                 int32_t lng;                            // Longitude * 10**7
00019         };
00020         
00021         WP                      get_waypoint_with_index(uint8_t i);
00022         WP                      get_current_waypoint(void);
00023 
00024         void            set_waypoint_with_index(Waypoints::WP wp, uint8_t i);
00025 
00026         void            set_start_byte(uint16_t start_byte);
00027         void            set_wp_size(uint8_t wp_size);
00028         
00029         void            next_index(void);
00030         uint8_t         get_index(void);
00031         void            set_index(uint8_t i);
00032 
00033         uint8_t         get_total(void);
00034         void            set_total(uint8_t total);
00035         
00036 
00037 
00038   private:
00039         uint16_t _start_byte;
00040         uint8_t _wp_size;
00041         uint8_t _index;
00042         uint8_t _total; 
00043 };
00044 
00045 #endif
00046 

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