4 * @author Filip Jares (?)
7 * @brief Robot's actuators control library
11 * actuators.h 09/02/25
13 * Robot's actuators control.
15 * Copyright: (c) 2008-2010 CTU Dragons
16 * CTU FEE - Department of Control Engineering
17 * License: GNU GPL v.2
20 \defgroup actlib Actuators control library
22 Actuators library serves as a single control point for all the actuators
29 /* Hokuyo pitch angle limits */ // FIXME: obsolete: delete or update
30 #define HOKUYO_PITCH_MAX 0xF8
31 #define HOKUYO_PITCH_HORIZONTAL 0xC0
32 #define HOKUYO_PITCH_MIN 0x00
34 #define VIDLE_UP 0x3c0
35 #define VIDLE_MIDDLE 0x200
36 #define VIDLE_LOAD_PREPARE 0x1c0
37 #define VIDLE_DOWN 0x170
39 #define VIDLE_FAST_SPEED 0x00
40 #define VIDLE_MEDIUM_SPEED 0x0a
48 void act_init(struct robottype_orte_data *ortedata);
50 void act_hokuyo(unsigned char angle); // FIXME obsolete (?)
51 void act_camera_on(void);
52 void act_camera_off(void);
54 void act_vidle(uint16_t position, char speed);
55 uint16_t act_vidle_get_last_reqest(void);
61 #endif /* ACTUATORS_H */