5 * @author Filip Jares (?)
8 * @brief Robot's actuators control library
12 * actuators.c 09/02/25
14 * Robot's actuators control.
16 * Copyright: (c) 2008-2010 CTU Dragons
17 * CTU FEE - Department of Control Engineering
18 * License: GNU GPL v.2
22 #include <actuators.h>
24 static struct robottype_orte_data *orte = NULL;
26 static uint16_t jaw_left_last_request;
27 static uint16_t jaw_right_last_request;
28 static uint16_t lift_last_request;
30 void act_init(struct robottype_orte_data *ortedata)
35 void act_camera_on(void)
37 orte->camera_control.on = 1;
38 ORTEPublicationSend(orte->publication_camera_control);
41 void act_camera_off(void)
43 orte->camera_control.on = 0;
44 ORTEPublicationSend(orte->publication_camera_control);
47 void act_lift(uint16_t position, char speed)
49 orte->lift_cmd.req_pos = position;
50 orte->lift_cmd.speed = speed;
51 /* Remember the request so that we change check for matching
52 * response in rcv_vidle_status_cb() */
53 lift_last_request = position;
54 ORTEPublicationSend(orte->publication_lift_cmd);
57 void act_jaws(jaws_cmds cmd)
61 orte->jaws_cmd.req_pos.left=0x1C3;
62 orte->jaws_cmd.req_pos.right=0x1B3;
65 orte->jaws_cmd.req_pos.left=0x30F;
66 orte->jaws_cmd.req_pos.right=0x36F;
69 orte->jaws_cmd.req_pos.left = 0x25F;
70 orte->jaws_cmd.req_pos.right = 0x27F;
73 orte->jaws_cmd.req_pos.left=0x1C3;
74 orte->jaws_cmd.req_pos.right=0x1B3;
78 uint16_t act_jaw_left_get_last_reqest(void)
80 return jaw_left_last_request;
83 uint16_t act_jaw_right_get_last_reqest(void)
85 return jaw_right_last_request;
88 uint16_t act_lift_get_last_reqest(void)
90 return lift_last_request;