11 struct motion_status {
12 unsigned short err_left;
13 unsigned short err_right;
20 struct corr_distances {
89 unsigned short data10;
90 unsigned short data11;
91 unsigned short data12;
92 unsigned short data13;
93 unsigned short data14;
94 unsigned short data15;
95 unsigned short data16;
96 unsigned short data17;
97 unsigned short data18;
98 unsigned short data19;
99 unsigned short data20;
100 unsigned short data21;
101 unsigned short data22;
102 unsigned short data23;
103 unsigned short data24;
104 unsigned short data25;
105 unsigned short data26;
106 unsigned short data27;
107 unsigned short data28;
108 unsigned short data29;
109 unsigned short data30;
110 unsigned short data31;
111 unsigned short data32;
112 unsigned short data33;
113 unsigned short data34;
116 /** Request for hokuyo pitch (angle) */
117 struct hokuyo_pitch {
118 /** Hokuyo angle (0..down, 255..up)*/
122 /** Request for lift */
124 /** Position in IRCs (0..fully in, >0 out) */
128 /** Request for pusher */
130 /** Position in IRCs (0..fully in, >0 out) */
134 /** Status of the distance measurement sensor */
135 struct puck_distance {
136 /** Distance of the puck from the Sharp sensor in meters */
140 /** Status sent from actuators */
141 struct actuator_status {
142 /** Position in IRCs (0..the lowest position, >0 position above the lowest position) */
143 unsigned short lift_pos;
144 /** Position in IRCs (0..fully in, >0 out) */
145 unsigned short pusher_pos;
146 /** Status bits - see actuators.h */
150 /** Request for chelae */
152 /** Position of left chela (0..closed, 255..open) */
154 /** Position of right chela (0..closed, 255..open) */
158 /** Request for chelae's belts */
160 /** Speed of left chela belt (-127..full speed out, 0..stop,
161 127..full speed in) */
163 /** Speed of right chela belt (-127..full speed out, 0..stop,
164 127..full speed in) */
168 /** Request for holder */
170 /** Position of the puck holder (0..closed, 255..fully open) */
174 // FIXME: What's this??? M.S.