microb 2010

[aversive.git] / projects / microb2010 / mechboard / actuator.h

diff --git a/projects/microb2010/mechboard/actuator.h b/projects/microb2010/mechboard/actuator.h
new file mode 100644 (file)
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--- /dev/null
+++ b/projects/microb2010/mechboard/actuator.h
@@ -0,0 +1,39 @@
+/*  
+ *  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.h,v 1.6 2009-11-08 17:25:00 zer0 Exp $
+ *
+ */
+
+#define FINGER_RIGHT        666
+#define FINGER_RIGHT_RELAX  621
+#define FINGER_CENTER_RIGHT 491
+#define FINGER_CENTER       490
+#define FINGER_CENTER_LEFT  489
+#define FINGER_LEFT         340
+#define FINGER_LEFT_RELAX   385
+
+void finger_goto(uint16_t position);
+uint16_t finger_get_goal_pos(void);
+uint8_t finger_get_side(void);
+
+void servo_lintel_out(void);
+void servo_lintel_1lin(void);
+void servo_lintel_2lin(void);
+
+void actuator_init(void);
+