robofsm: Fix jaw actuator function parameter and update position for holding figure.

[eurobot/public.git] / src / robofsm / actuators.h

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 1428ffd6eda4f2d193dd75f9092694678464b943..09b198f5e9072c3d0347c58b33ea577d6492f821 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -31,8 +31,13 @@ of the robot.
 #define HOKUYO_PITCH_HORIZONTAL 0xC0
 #define HOKUYO_PITCH_MIN       0x00
 
-#define VIDLE_UP               0x3c0
-#define VIDLE_DOWN             0x1e0
+#include <stdint.h>
+
+typedef enum {  
+  OPEN,
+  CLOSE,
+  CATCH
+} jaws_cmds;
 
 #ifdef __cplusplus
 extern "C" {
@@ -40,12 +45,15 @@ extern "C" {
 
 void act_init(struct robottype_orte_data *ortedata);
 
-void act_hokuyo(unsigned char angle); // FIXME obsolete (?)
 void act_camera_on(void);
 void act_camera_off(void);
 
-void act_vidle(uint16_t position);
-uint16_t act_vidle_get_last_reqest(void);
+void act_lift(uint16_t position, char speed);
+void act_jaws(jaws_cmds cmd);
+
+uint16_t act_jaw_left_get_last_reqest(void);
+uint16_t act_jaw_right_get_last_reqest(void);
+uint16_t act_lift_get_last_reqest(void);
 
 #ifdef __cplusplus
 }