From 432d79cbbc00d667580e8afa70d2b7bc2fd3c8de Mon Sep 17 00:00:00 2001
From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Thu, 29 Apr 2010 06:08:25 +0200
Subject: [PATCH] robofsm: Add API for controlling 'vidle'

---
 src/robofsm/actuators.c | 6 ++++++
 src/robofsm/actuators.h | 5 +++++
 2 files changed, 11 insertions(+)

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index ec1fa70a..c2c4ef51 100644
--- 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 26f6a273..97f256ae 100644
--- 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 
-- 
2.39.2