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Between Heaven & Hell 2
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rccl170
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1987-03-02
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2KB
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84 lines
/*
* RTC Version 2.0 Author : Vincent Hayward
* School of Electrical Engineering
* Purdue University
* Dir : h
* File : rtc.h
* Remarks : Robot interface state and command descriptions
* Usage : made available to the user
*/
#define VERSION 2
#define ADC 16
#undef NO
#undef YES
#define NO 0
#define YES 1
#undef NJOINTS 6
#define NJOINTS 6
#define DEFAULTRATE 2
#define HARDCLOCK 7 /* basic sample time */
#define STOP 1
#define STOPCAL 2
#define POS 3
#define CUR 4
/*
* global arm state structure, if modified, the pack routine will
* arrange to reflect the change onto the arm controller
*/
struct i {
char set; /* flag to be set if change requested */
unsigned short vali; /* corresponding value */
};
struct a {
char set ;
unsigned short vala[NJOINTS];
};
struct g {
char set; /* flag to be set if change requested */
unsigned short valg; /* corresponding value */
};
struct chg {
struct i i_motion[NJOINTS]; /* case POS - CUR - STOP - STOPCAL */
struct i i_gravty[NJOINTS];
struct a a_motion;
struct a a_gravty;
struct g g_adco; /* open adc channel */
struct g g_hand; /* command hand */
struct g g_rate; /* rate in 2 ** value * 7 ms */
char end; /* termination */
char stop; /* stop on the spot */
char calib;
};
/*
* structure send by the controller on each interrupt
*/
struct how {
short wc;
unsigned short
exio, /* state of the extern io register */
pos[NJOINTS]; /* current positions */
#ifdef ADC
short
adcr[ADC]; /* adc readings */
#endif
short chks;
};