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: arm_highlevel.h,v 1.4 2009-11-08 17:25:00 zer0 Exp $
22 #define ARM_LEFT_NUM 0
23 #define ARM_RIGHT_NUM 1
25 #define PUMP_LEFT1_NUM 0
26 #define PUMP_RIGHT1_NUM 1
27 #define PUMP_LEFT2_NUM 2
28 #define PUMP_RIGHT2_NUM 3
30 struct arm *arm_num2ptr(uint8_t arm_num);
32 void arm_goto_straight(uint8_t arm_num, uint8_t pump_num);
33 void arm_goto_get_column(uint8_t arm_num, uint8_t pump_num);
34 void arm_goto_prepare_get(uint8_t arm_num, uint8_t pump_num);
35 void arm_goto_intermediate_get(uint8_t arm_num, uint8_t pump_num);
36 void arm_goto_intermediate_front_get(uint8_t arm_num, uint8_t pump_num);
37 void arm_goto_prepare_eject(uint8_t arm_num, uint8_t pump_num);
38 void arm_goto_eject(uint8_t arm_num, uint8_t pump_num);
39 void arm_goto_loaded(uint8_t arm_num);
40 void arm_goto_prepare_build_inside(uint8_t arm_num, uint8_t pump_num,
42 void arm_goto_prepare_autobuild_inside(uint8_t arm_num, uint8_t pump_num,
44 void arm_goto_prepare_autobuild_outside(uint8_t arm_num, uint8_t pump_num,
45 uint8_t level, uint8_t dist);
46 void arm_goto_autobuild(uint8_t arm_num, uint8_t pump_num,
47 uint8_t level, uint8_t dist);
49 void arm_goto_prepare_get_lintel_inside1(void);
50 void arm_goto_prepare_get_lintel_inside2(uint8_t lintel_count);
51 void arm_goto_get_lintel_inside(uint8_t lintel_count);
52 void arm_goto_prepare_build_lintel1(void);
53 void arm_goto_prepare_build_lintel2(uint8_t level);
54 void arm_goto_prepare_build_lintel3(uint8_t level);
55 void arm_goto_build_lintel(uint8_t level);
57 void arm_goto_prepare_get_lintel_disp(void);
58 void arm_goto_get_lintel_disp(void);
60 void arm_goto_prepare_put_lintel(void);
61 void arm_goto_put_lintel(uint8_t lintel_count);
62 void arm_goto_prepare_push_temple(uint8_t arm_num);
63 void arm_goto_push_temple(uint8_t arm_num, uint8_t level);
64 void arm_goto_prepare_push_temple_disc(uint8_t arm_num);
65 void arm_goto_push_temple_disc(uint8_t arm_num);
67 void arm_prepare_free_pumps(void);
68 uint8_t arm_wait_both(uint8_t mask);
69 uint8_t arm_wait_select(uint8_t left, uint8_t right, uint8_t mask);
71 /* return the id of the free pump for the arm, or return -1 */
72 int8_t arm_get_free_pump(uint8_t arm_num);
73 int8_t arm_get_busy_pump(uint8_t arm_num);
77 #define PUMP_REVERSE -3400
79 void pump_set(uint8_t pump_num, int16_t val);
80 int16_t pump_num2angle(uint8_t pump_num);
81 void pump_mark_busy(uint8_t pump_num);
82 void pump_mark_free(uint8_t pump_num);
83 uint8_t pump_is_free(uint8_t pump_num);
84 uint8_t pump_is_busy(uint8_t pump_num);