4 * Robot's actuators control.
6 * Copyright: (c) 2008 CTU Dragons
7 * CTU FEE - Department of Control Engineering
12 #include <actuators.h>
14 static struct robottype_orte_data *orte = NULL;
18 void act_init(struct robottype_orte_data *ortedata)
23 void act_lift(unsigned short int position)
25 orte->lift.pos = position;
26 ORTEPublicationSend(orte->publication_lift);
29 void act_chelae(unsigned char left, unsigned char right)
31 orte->chelae.left = left;
32 orte->chelae.right = 0xFF-right; // the hardware (chelae) responds asymetrically
33 ORTEPublicationSend(orte->publication_chelae);
36 void act_belts(unsigned char left, unsigned char right)
38 orte->belts.left = left;
39 orte->belts.right = right;
40 ORTEPublicationSend(orte->publication_belts);
43 void act_holder(unsigned char position)
45 orte->holder.pos = position;
46 ORTEPublicationSend(orte->publication_holder);
49 void act_pusher(unsigned short int position)
51 orte->pusher.pos = position;
52 ORTEPublicationSend(orte->publication_pusher);
55 void act_hokuyo(unsigned char angle)
57 orte->hokuyo_pitch.angle = angle;
58 ORTEPublicationSend(orte->publication_hokuyo_pitch);