robofsm: Add API for controlling 'vidle'

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index ec1fa70a3c748dcb16581d689ffd1effaaccd062..c2c4ef5142f1a075066ed90826c26e42daa2fd9d 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -47,3 +47,9 @@ void act_camera_off(void)
        ORTEPublicationSend(orte->publication_camera_control);
 }
 
+void act_vidle(uint16_t position)
+{
+       orte->vidle_cmd.req_pos = position;
+       ORTEPublicationSend(orte->publication_vidle_cmd);
+}
+

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 26f6a27325c503626c91fe862a16f4ef8bd6fc3f..97f256aec2b8ababd9276cb7138b786dd5fede97 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -31,6 +31,9 @@ of the robot.
 #define HOKUYO_PITCH_HORIZONTAL 0xC0
 #define HOKUYO_PITCH_MIN       0x00
 
+#define VIDLE_UP               0x380
+#define VIDLE_DOWN             0x1e0
+
 #ifdef __cplusplus
 extern "C" {
 #endif 
@@ -41,6 +44,8 @@ void act_hokuyo(unsigned char angle); // FIXME obsolete (?)
 void act_camera_on(void);
 void act_camera_off(void);
 
+void act_vidle(uint16_t position);
+
 #ifdef __cplusplus
 }
 #endif