microb 2010

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

diff --git a/projects/microb2010/mechboard/arm_highlevel.h b/projects/microb2010/mechboard/arm_highlevel.h
new file mode 100644 (file)
index 0000000..eaf3ae2
--- /dev/null
+++ b/projects/microb2010/mechboard/arm_highlevel.h
@@ -0,0 +1,84 @@
+/*  
+ *  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: arm_highlevel.h,v 1.4 2009-11-08 17:25:00 zer0 Exp $
+ *
+ */
+
+#define ARM_LEFT_NUM 0
+#define ARM_RIGHT_NUM 1
+
+#define PUMP_LEFT1_NUM  0
+#define PUMP_RIGHT1_NUM 1
+#define PUMP_LEFT2_NUM  2
+#define PUMP_RIGHT2_NUM 3
+
+struct arm *arm_num2ptr(uint8_t arm_num);
+
+void arm_goto_straight(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_get_column(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_prepare_get(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_intermediate_get(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_intermediate_front_get(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_prepare_eject(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_eject(uint8_t arm_num, uint8_t pump_num);
+void arm_goto_loaded(uint8_t arm_num);
+void arm_goto_prepare_build_inside(uint8_t arm_num, uint8_t pump_num,
+                                  uint8_t level);
+void arm_goto_prepare_autobuild_inside(uint8_t arm_num, uint8_t pump_num,
+                                      uint8_t level);
+void arm_goto_prepare_autobuild_outside(uint8_t arm_num, uint8_t pump_num,
+                                       uint8_t level, uint8_t dist);
+void arm_goto_autobuild(uint8_t arm_num, uint8_t pump_num,
+                                       uint8_t level, uint8_t dist);
+
+void arm_goto_prepare_get_lintel_inside1(void);
+void arm_goto_prepare_get_lintel_inside2(uint8_t lintel_count);
+void arm_goto_get_lintel_inside(uint8_t lintel_count);
+void arm_goto_prepare_build_lintel1(void);
+void arm_goto_prepare_build_lintel2(uint8_t level);
+void arm_goto_prepare_build_lintel3(uint8_t level);
+void arm_goto_build_lintel(uint8_t level);
+
+void arm_goto_prepare_get_lintel_disp(void);
+void arm_goto_get_lintel_disp(void);
+
+void arm_goto_prepare_put_lintel(void);
+void arm_goto_put_lintel(uint8_t lintel_count);
+void arm_goto_prepare_push_temple(uint8_t arm_num);
+void arm_goto_push_temple(uint8_t arm_num, uint8_t level);
+void arm_goto_prepare_push_temple_disc(uint8_t arm_num);
+void arm_goto_push_temple_disc(uint8_t arm_num);
+
+void arm_prepare_free_pumps(void);
+uint8_t arm_wait_both(uint8_t mask);
+uint8_t arm_wait_select(uint8_t left, uint8_t right, uint8_t mask);
+
+/* return the id of the free pump for the arm, or return -1 */
+int8_t arm_get_free_pump(uint8_t arm_num);
+int8_t arm_get_busy_pump(uint8_t arm_num);
+
+#define PUMP_ON      3400
+#define PUMP_OFF     0
+#define PUMP_REVERSE -3400
+
+void pump_set(uint8_t pump_num, int16_t val);
+int16_t pump_num2angle(uint8_t pump_num);
+void pump_mark_busy(uint8_t pump_num);
+void pump_mark_free(uint8_t pump_num);
+uint8_t pump_is_free(uint8_t pump_num);
+uint8_t pump_is_busy(uint8_t pump_num);