hostsim enhancements

[aversive.git] / projects / microb2010 / tests / hostsim / actuator.c

diff --git a/projects/microb2010/tests/hostsim/actuator.c b/projects/microb2010/tests/hostsim/actuator.c
new file mode 100644 (file)
index 0000000..9c13288
--- /dev/null
+++ b/projects/microb2010/tests/hostsim/actuator.c
@@ -0,0 +1,78 @@
+/*  
+ *  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;
+}
+