Rev 772 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1063 | tullio | 1 | |
| 2 | /* |
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| 3 | * This program is free software; you can redistribute it and/or modify |
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| 4 | * it under the terms of the GNU General Public License as published by |
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| 5 | * the Free Software Foundation; either version 2 of the License, or |
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| 6 | * (at your option) any later version. |
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| 7 | * |
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| 8 | * This program is distributed in the hope that it will be useful, |
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| 9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 11 | * GNU General Public License for more details. |
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| 12 | * |
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| 13 | * You should have received a copy of the GNU General Public License |
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| 14 | * along with this program; if not, write to the Free Software |
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| 15 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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| 16 | * |
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| 17 | */ |
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| 281 | giacomo | 18 | #ifndef __SERVO_H__ |
| 19 | #define __SERVO_H__ |
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| 20 | |||
| 358 | giacomo | 21 | #ifndef COM1 |
| 22 | #define COM1 0 |
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| 23 | #define COM2 1 |
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| 24 | #define COM3 2 |
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| 25 | #define COM4 3 |
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| 26 | #endif |
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| 292 | giacomo | 27 | |
| 358 | giacomo | 28 | int servo_open(int port, int speed); |
| 29 | int servo_close(int port); |
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| 291 | giacomo | 30 | |
| 281 | giacomo | 31 | /* Setup */ |
| 32 | |||
| 358 | giacomo | 33 | int servo_set_RS232_baudrate(int port, int baud); /* BaudRate */ |
| 34 | int servo_get_RS232_baudrate(int port); |
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| 35 | int servo_store_RS232_baudrate(int port); |
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| 281 | giacomo | 36 | |
| 358 | giacomo | 37 | int servo_set_period(int port, int period); /* Servo period in us */ |
| 38 | int servo_get_period(int port); |
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| 39 | int servo_store_period(int port); |
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| 281 | giacomo | 40 | |
| 358 | giacomo | 41 | int servo_get_setup_switch(int port); /* RC0 RC1 RC2 */ |
| 42 | int servo_set_RC5_switch(int port, int data); |
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| 281 | giacomo | 43 | |
| 44 | /* Servo control */ |
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| 45 | |||
| 290 | giacomo | 46 | /* Convert angle (degree, minute, second -> second) */ |
| 47 | #define ANGLE2SEC(deg,min,sec) ((deg)*3600 + (min)*60 + (sec)) |
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| 281 | giacomo | 48 | |
| 358 | giacomo | 49 | int servo_turn_off(int port, int servo); |
| 50 | int servo_turn_on(int port, int servo); |
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| 51 | int servo_turn_off_all(int port); |
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| 52 | int servo_turn_on_all(int port); |
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| 281 | giacomo | 53 | |
| 358 | giacomo | 54 | int servo_set_levels(int port, int bank, int mask); |
| 55 | int servo_get_levels(int port, int bank); |
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| 56 | int servo_store_levels(int port); |
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| 315 | giacomo | 57 | |
| 358 | giacomo | 58 | int servo_set_max_angle_sec(int port, int servo, int angle_sec); |
| 59 | int servo_set_min_angle_sec(int port, int servo, int angle_sec); |
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| 381 | giacomo | 60 | int servo_set_servo_tick(int port, int servo, int zero_tick, int delta_tick); |
| 281 | giacomo | 61 | |
| 358 | giacomo | 62 | int servo_set_angle_sec(int port, int servo, int angle_sec); |
| 63 | int servo_get_angle_sec(int port, int servo); |
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| 290 | giacomo | 64 | |
| 358 | giacomo | 65 | int servo_store_default_position(int port, int servo); |
| 290 | giacomo | 66 | |
| 281 | giacomo | 67 | /* Analog control */ |
| 68 | |||
| 772 | mauro | 69 | #define MAX_ANALOG_10 0x03FF |
| 70 | #define MAX_ANALOG_8 0x00FF |
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| 316 | giacomo | 71 | |
| 772 | mauro | 72 | int servo_get_analog(int port, int adport, int nbit); |
| 281 | giacomo | 73 | |
| 74 | #endif |
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| 75 |