actuators.h File Reference

Robot's actuators control library. More...

#include <stdint.h>

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Defines
#define	HOKUYO_PITCH_MAX   0xF8
#define	HOKUYO_PITCH_HORIZONTAL   0xC0
#define	HOKUYO_PITCH_MIN   0x00
#define	JAW_LEFT_OPEN   0xb0
#define	JAW_RIGHT_OPEN   0x70
#define	JAW_LEFT_CLOSE   0x60
#define	JAW_RIGHT_CLOSE   0xc0
#define	JAW_LEFT_CATCH   0x70
#define	JAW_RIGHT_CATCH   0xbb
#define	UP   0x100
#define	DOWN   0x0
Enumerations
enum	jaws_cmds { OPEN, CLOSE, CATCH }
Functions
void	act_init (struct robottype_orte_data *ortedata)
void	act_camera_on (void)
void	act_camera_off (void)
void	act_lift (uint16_t req_pos, char speed, char homing)
void	act_jaws (jaws_cmds cmd)
uint16_t	act_jaw_left_get_last_reqest (void)
uint16_t	act_jaw_right_get_last_reqest (void)
uint16_t	act_lift_get_last_reqest (void)

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Detailed Description

Robot's actuators control library.

Author:

Martin Zidek

Filip Jares (?)

Date:

2009-2010

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Define Documentation

#define DOWN   0x0

#define HOKUYO_PITCH_HORIZONTAL   0xC0

#define HOKUYO_PITCH_MAX   0xF8

#define HOKUYO_PITCH_MIN   0x00

#define JAW_LEFT_CATCH   0x70

#define JAW_LEFT_CLOSE   0x60

#define JAW_LEFT_OPEN   0xb0

#define JAW_RIGHT_CATCH   0xbb

#define JAW_RIGHT_CLOSE   0xc0

#define JAW_RIGHT_OPEN   0x70

#define UP   0x100

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Enumeration Type Documentation

enum jaws_cmds

Enumerator:

OPEN
CLOSE
CATCH

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Function Documentation

void act_camera_off

(

void

)

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void act_camera_on

(

void

)

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void act_init

(

struct robottype_orte_data *

ortedata

)

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uint16_t act_jaw_left_get_last_reqest

(

void

)

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uint16_t act_jaw_right_get_last_reqest

(

void

)

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void act_jaws

(

jaws_cmds

cmd

)

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void act_lift	(	uint16_t	req_pos,
		char	speed,
		char	homing
	)

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uint16_t act_lift_get_last_reqest

(

void

)

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