src/common/can_msg_def.h

   1 #ifndef CANMSGDEFH
   2 #define CANMSGDEFH
   3
   4 //flags sent in CAN_LIFT_STATUS message
   5 #define CAN_LIFT_INITIALIZING   1
   6 #define CAN_LIFT_TIMEOUT        2
   7 #define CAN_LIFT_OUT_OF_BOUNDS  4
   8 #define CAN_LIFT_SWITCH_UP      8
   9 #define CAN_LIFT_SWITCH_DOWN    16
  10 #define CAN_LIFT_SWITCH_HOME    32
  11 #define CAN_LIFT_HOMED          64
  12 #define CAN_LIFT_START          128
  13
  14 //flags sent in CAN_JAW_RIGHT_STATUS, CAN_JAW_LEFT_STATUS message
  15 #define CAN_JAW_INITIALIZING            0x01
  16 #define CAN_JAW_TIMEOUT                 0x02
  17 #define CAN_JAW_OUT_OF_BOUNDS           0x04
  18
  19 //flags sent in CAN_SWITCHES
  20 // COLOR_0 = 1, COLOR_1 = 2, see team color list in robot.h
  21 #define CAN_SWITCH_COLOR_0      1
  22 #define CAN_SWITCH_COLOR_1      2
  23 #define CAN_SWITCH_STRATEGY     4
  24 #define CAN_SWITCH_HOME         8
  25
  26 //flags sent in CAN_ROBOT_BUMPERS
  27 #define CAN_BUMPER_REAR_LEFT            1
  28 #define CAN_BUMPER_REAR_RIGHT           2
  29 #define CAN_BUMPER_LEFT                 4
  30 #define CAN_BUMPER_RIGHT                8
  31 #define CAN_BUMPER_LEFT_ACROSS          16
  32 #define CAN_BUMPER_RIGHT_ACROSS         32
  33
  34 /* power */
  35 #define CAN_PWR_ALERT_33        0x01
  36 #define CAN_PWR_ALERT_50        0x02
  37 #define CAN_PWR_ALERT_80        0x04
  38 #define CAN_PWR_BATT_FULL       0x08
  39 #define CAN_PWR_BATT_MEAN       0x10
  40 #define CAN_PWR_BATT_LOW        0x20
  41 #define CAN_PWR_BATT_CRITICAL   0x40
  42
  43 /* flags in CAN_CL_SENSOR_STATUS */
  44 #define CAN_CL_SENSOR_PATTERN_MATCH     0x01
  45
  46 /* flags in CAN_CL_SENSOR_CMD */
  47 #define CAN_CL_SENSOR_BANK_1    0x01
  48 #define CAN_CL_SENSOR_BANK_2    0x02
  49 #define CAN_CL_SENSOR_BANK_3    0x03
  50
  51 #endif