<!DOCTYPE module SYSTEM "module.dtd">

<module name="stereoavoid" dir="stereocam">
  <doc>
    <description>Read Stereoboard Obstacle Protocol and plan around obstacles during nav-line navigation</description>
    <configure name="STEREO_UART" value="UARTX" description="Sets the UART port number of the connected camera (required)"/>
  </doc>

  <header>
    <file name="nav_line_avoid/stereo_avoid.h"/>
  </header>

  <init fun="stereo_avoid_init()"/>
  <periodic fun="stereo_avoid_run()" freq="20" autorun="TRUE"/>

  <makefile>
    <configure name="STEREO_UART" default="uart1" case="upper|lower"/>
    <configure name="STEREO_BAUD" default="B9600"/>
    <configure name="STEREO_LED" default="3"/>
    <define name="USE_$(STEREO_UART_UPPER)"/>
    <define name="STEREO_UART" value="$(STEREO_UART_LOWER)"/>
    <define name="$(STEREO_UART_UPPER)_BAUD" value="$(STEREO_BAUD)"/>
    <file name="nav_line_avoid/avoid_navigation.c"/>
  </makefile>
  <makefile  target="ap">
    <file name="nav_line_avoid/stereo_avoid.c"/>
  </makefile>
  <makefile  target="nps">
    <file name="nav_line_avoid/stereo_avoid_sim.c"/>
  </makefile>
</module>

