6 * @brief Acttuators library
10 * actuators.h 09/02/25
12 * Robot's actuators control.
14 * Copyright: (c) 2008 CTU Dragons
15 * CTU FEE - Department of Control Engineering
16 * License: GNU GPL v.2
19 \defgroup actlib Actuators control library
21 Actuators library serves as a single control point for all the actuators
29 #define CHELA_CLOSED 0xFF
30 #define CHELA_TIGHT 0xA0
31 #define CHELA_OPEN 0x20
32 #define CHELA_LOOSE 0x80
34 /* FIXME: (temporary, LPCs not ready) Timeout */
35 #define CHELA_TIMEOUT 0x07
38 #define BELTS_IN 0xA0 // 160
39 #define BELTS_OFF 0x64 // 100
40 #define BELTS_OUT 0x28 // 40
42 /* Positions of lift */
46 /* Holder positions */
47 #define HOLDER_CLOSED 0
48 #define HOLDER_OPEN_MID 20
49 #define HOLDER_OPENED 100
52 #define PUSHER_INSIDE 0
53 #define PUSHER_OUTSIDE 100
55 /* Actuators status bits */
56 #define ACT_ST_LIFT_ERR 0x01 /* TODO */
62 void act_init(struct robottype_orte_data *ortedata);
64 void act_lift(unsigned short int position);
65 void act_chelae(unsigned char left, unsigned char right);
66 void act_belts(unsigned char left, unsigned char right);
67 void act_holder(unsigned char position);
68 void act_pusher(unsigned short int position);
69 void act_hokuyo(unsigned char angle);
75 #endif /* ACTUATORS_H */