servos.h

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/*
 * This file is part of Caddy.
 *
 *  Caddy 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 3 of the License, or
 *  (at your option) any later version.
 *
 *  Caddy 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 Caddy.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef SERVOS_H
#define SERVOS_H

// avr-libc
#include <stdint.h>

#define PAN    0

#define TILT   1

#define BOOM   2

#define LIFT   3

#define DOOR   4

// Servo positions
#define PAN_CENTER         128 //133
#define MAX_PAN_LEFT       50
#define MAX_PAN_RIGHT      195

#define TILT_BB_GRAB       133
#define TILT_VERT          128   
#define TILT_LOOKUP        186
#define TILT_BACK          MAX_TILT_BACK
#define TILT_FORWARD       MAX_TILT_FORWARD
#define MAX_TILT_BACK      195
#define MAX_TILT_FORWARD   70

#define BOOM_UP            MAX_BOOM_UP
#define BOOM_BB_GRAB       183   
#define MAX_BOOM_UP        45
#define MAX_BOOM_DOWN      148

#define LIFT_OPEN          MAX_LIFT_OPEN
#define LIFT_UP            MAX_LIFT_UP
#define LIFT_CORRAL        150   
#define LIFT_BB_READY      114   
#define MAX_LIFT_OPEN      183   
#define MAX_LIFT_UP        74    

#define DOOR_CLOSED        MAX_DOOR_CLOSED
#define DOOR_OPEN          MAX_DOOR_OPEN
#define MAX_DOOR_CLOSED    71    
#define MAX_DOOR_OPEN      200   


void setServo(uint8_t servoNum, uint8_t servoPos);

void disableServo(uint8_t servoNum);

#endif  // #ifndef