common: add ids and flags for jaws mechanism

diff --git a/src/common/can_ids.h b/src/common/can_ids.h
index 0b4440d376df4e723301e3ab19b26e14c5b5f5dd..d9e3e394b8b8f58801b61873fb1212b0247f657b 100644 (file)
--- a/src/common/can_ids.h
+++ b/src/common/can_ids.h
@@ -71,6 +71,14 @@
 #define CAN_VIDLE_STATUS       to_boa(0x48)
 #define CAN_VIDLE_CMD          to_per(0x49)
 
+#define CAN_JAW_RIGHT_STATUS   to_boa(0x50)
+#define CAN_JAW_RIGHT_CMD      to_per(0x51)
+
+#define CAN_JAW_LEFT_STATUS    to_boa(0x52)
+#define CAN_JAW_LEFT_CMD       to_per(0x53)
+
+#define CAN_LIFT_STATUS        to_boa(0x54)
+#define CAN_LIFT_CMD           to_per(0x55)
 // #undef to_boa
 // #undef to_mot
 // #undef to_per

diff --git a/src/common/can_msg_def.h b/src/common/can_msg_def.h
index df7b4e2e853df793b3b58f96ee6bddf487489938..34a74466693cace2aae977039495e06f69ca0650 100644 (file)
--- a/src/common/can_msg_def.h
+++ b/src/common/can_msg_def.h
@@ -4,7 +4,18 @@
 #define CAN_VIDLE_TIMEOUT        0x02
 #define CAN_VIDLE_OUT_OF_BOUNDS   0x04
 
+
+/* Flags sent in CAN_JAW_RIGHT_STATUS, CAN_JAW_LEFT_STATUS message  */
+#define CAN_JAW_INITIALIZING    0x01
+#define CAN_JAW_TIMEOUT          0x02
+#define CAN_JAW_OUT_OF_BOUNDS   0x04
+
 #define CAN_SWITCH_BUMPER        0x01
 #define CAN_SWITCH_COLOR         0x02
 #define CAN_SWITCH_LEFT                  0x04
 #define CAN_SWITCH_RIGHT         0x08
+#define CAN_SWITCH_CORNER_LEFT   0x16
+#define CAN_SWITCH_CORNER_RIGHT          0x32
+
+
+