corobot.h

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/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2010 - CoroWare Technologies Inc
 *
 *
 *  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
 *
 */

#ifndef COROBOT_H
#define COROBOT_H

#ifdef __cplusplus
extern "C"
{
#endif

#include <limits.h>


#define MSG_GRIPPER_STATE_OPEN   1
#define MSG_GRIPPER_STATE_CLOSED   2
#define MSG_GRIPPER_STATE_MOVING   3

#define TICKS_PER_DEGREE  64
#define TICKS_PER_RADIAN (180/M_PI)*TICKS_PER_DEGREE

#define ORBITAF_DIAMETER 0.08255

#define ORBITAF_HEIGHT   0.1143


#define LOWER_ARM_LENGTH_INCHES 6.25

#define UPPER_ARM_LENGTH_INCHES 8.00

#define INCHES_TO_METERS 0.0254

#define COROBOT_DIAMETER 0.30

#define ANALOGARMSERVO_CENTER   1500

#define ANALOGARMSERVO_RANGE    2000

#define GRIPPERSERVO_CENTER     1500

#define GRIPPERSERVO_RANGE      1000

#define DIGITALARMSERVO_CENTER  1500

#define DIGITALARMSERVO_RANGE   1500

#define DRIVEMOTOR_CENTER       1470

#define DRIVEMOTOR_RANGE        1000

#ifndef MIN
#define MIN(a,b) ((a < b) ? (a) : (b))
#endif

#ifndef MAX
#define MAX(a,b) ((a > b) ? (a) : (b))
#endif

#ifdef __cplusplus
}
#endif

#endif