2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: actuator.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
30 #include <encoders_spi.h>
33 #include <scheduler.h>
38 #include <control_system_manager.h>
39 #include <trajectory_manager.h>
40 #include <vect_base.h>
43 #include <obstacle_avoidance.h>
44 #include <blocking_detection_manager.h>
45 #include <robot_system.h>
46 #include <position_manager.h>
52 void pwm_set_and_save(void *pwm, int32_t val)
54 /* we need to do the saturation here, before saving the
62 mainboard.pwm_l = val;
63 else if (pwm == RIGHT_PWM)
64 mainboard.pwm_r = val;
68 void pickup_wheels_on(void)
70 mainboard.enable_pickup_wheels = 1;
73 void pickup_wheels_off(void)
75 mainboard.enable_pickup_wheels = 0;