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
42 #define JAW_LEFT_OPEN 0xb0
43 #define JAW_RIGHT_OPEN 0x70
45 #define JAW_LEFT_CLOSE 0x60
46 #define JAW_RIGHT_CLOSE 0xc0
48 #define JAW_LEFT_CATCH 0x7a
49 #define JAW_RIGHT_CATCH 0xb0
55 void act_init(struct robottype_orte_data *ortedata);
57 void act_camera_on(void);
58 void act_camera_off(void);
60 void act_lift(uint16_t req_pos, char speed, char homing);
61 void act_jaws(jaws_cmds cmd);
63 uint16_t act_jaw_left_get_last_reqest(void);
64 uint16_t act_jaw_right_get_last_reqest(void);
65 uint16_t act_lift_get_last_reqest(void);
71 #endif /* ACTUATORS_H */