--- /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 1.2 2009-04-24 19:30:42 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <rdline.h>
+
+#include "main.h"
+
+#define PICKUP_WHEEL_L_ON 2000
+#define PICKUP_WHEEL_R_ON -2000
+#define PICKUP_WHEEL_L_OFF 0
+#define PICKUP_WHEEL_R_OFF 0
+
+void pickup_wheels_on(void)
+{
+ pwm_ng_set(PICKUP_WHEEL_L_PWM, PICKUP_WHEEL_L_ON);
+ pwm_ng_set(PICKUP_WHEEL_R_PWM, PICKUP_WHEEL_R_ON);
+}
+
+void pickup_wheels_off(void)
+{
+ pwm_ng_set(PICKUP_WHEEL_L_PWM, PICKUP_WHEEL_L_OFF);
+ pwm_ng_set(PICKUP_WHEEL_R_PWM, PICKUP_WHEEL_R_OFF);
+}
+