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#ifndef servo_motor_h
#define servo_motor_h
// servo_motor.h
// es - Input/Output general purpose board. {{{
//
// Copyright (C) 2006 Dufour J�r�my
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}

/** Module for controlling the servo motor for the totems. */

#include "common.h"

/** All the states used to comunicate with this module. */
#define SRVM_LEFT_POS_IN 40
#define SRVM_LEFT_POS_OUT 143
#define SRVM_RIGHT_POS_IN 40
#define SRVM_RIGHT_POS_OUT 143
#define SRVM_TRASH_POS_OPEN 68   /* 44 */
#define SRVM_TRASH_POS_CLOSE 100 /* 64 */

/** Init the servo motor system. */
void servo_motor_init (void);

/** Ask the servo motor to go to a position.
 *  - servo_mask: mask for sensor ;
 *  - servo_pos : desired position.
 */
void servo_motor_set_pos (uint8_t servo_mask, uint8_t servo_pos);

/** What is your current position my dear servo motor ?
 *  - servo_num : sensor number (not a mask) ;
 *  - return    : desired position.
 */
uint8_t servo_motor_get_pos (uint8_t servo_num);

/** Open the trash. */
void servo_motor_open_trash (void);

/** Close the trash. */
void servo_motor_close_trash (void);

#endif // servo_motor_h