--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * 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
+ *
+ * Revision : $Id: actuator.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+
+#include "main.h"
+#include "robotsim.h"
+
+void pwm_set_and_save(void *pwm, int32_t val)
+{
+ /* we need to do the saturation here, before saving the
+ * value */
+ if (val > 4095)
+ val = 4095;
+ if (val < -4095)
+ val = -4095;
+
+ if (pwm == LEFT_PWM)
+ mainboard.pwm_l = val;
+ else if (pwm == RIGHT_PWM)
+ mainboard.pwm_r = val;
+#ifdef HOST_VERSION
+ robotsim_pwm(pwm, val);
+#else
+ pwm_ng_set(pwm, val);
+#endif
+}
+
+void pickup_wheels_on(void)
+{
+ mainboard.enable_pickup_wheels = 1;
+}
+
+void pickup_wheels_off(void)
+{
+ mainboard.enable_pickup_wheels = 0;
+}
+