2 long left; // PXMC's actual position (pxms.ap)
3 long right; // PXMC's actual position (pxms.ap)
4 octet seq; // Sequence number from the last received CAN_CORR_TRIG
8 long left; // PXMC's actual position (pxms.ap)
9 long right; // PXMC's actual position (pxms.ap)
17 struct motion_status {
18 unsigned short err_left;
19 unsigned short err_right;
26 struct corr_distances {
63 boolean start_condition;
66 struct robot_switches {
71 struct robot_bumpers {
74 boolean bumper_right_across;
75 boolean bumper_left_across;
76 boolean bumper_rear_left;
77 boolean bumper_rear_right;
87 unsigned short data[681];
107 unsigned short req_pos;
113 /** Status sent from actuators */
121 unsigned short act_pos;
122 unsigned short response; // Equals to req_pos when the move is done
123 octet flags; // Zero when everything OK, otherwise see CAN_LIFT_FLAG_*
130 // FIXME: What's this??? M.S.
146 // camera error state codes (bitwise disjuntive)
147 const error ERR_NO_VIDEO = 0x01;
148 const error ERR_NO_FRAME = 0x02;
159 /** Command from display - see uoled.h/UDE_recieve_cmd_t */