#include <stdio.h>
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include <semphr.h>
#include <timers.h>
#include <memPoolService.h>
#include <stdbool.h>
#include <carme_io1.h>
#include "arm.h"
#include "ucan.h"
#include "bcs.h"

Include dependency graph for arm.c:

Macros
#define	BUTTON_T0 0x01

#define	BUTTON_T1 0x02

#define	BUTTON_T2 0x04

#define	BUTTON_T3 0x08

#define	ROBOT_L_STATUS_REQUEST_ID 0x150

#define	ROBOT_L_STATUS_RETURN_ID 0x151

#define	ROBOT_L_COMAND_REQUEST_ID 0x152

#define	ROBOT_L_COMAND_RETURN_ID 0x153

#define	ROBOT_L_RESET_ID 0x15F

#define	COMAND_DLC 0x006

#define	STATUS_REQEST_DLC 0x002

#define	ROBOT_R_STATUS_REQUEST_ID 0x160

#define	ROBOT_R_STATUS_RETURN_ID 0x161

#define	ROBOT_R_COMAND_REQUEST_ID 0x162

#define	ROBOT_R_COMAND_RETURN_ID 0x163

#define	ROBOT_R_RESET_ID 0x16F

#define	MASK_SWITCH_0 0x01

#define	MASK_SWITCH_1 0x02

#define	MASK_SWITCH_2 0x04

#define	MASK_SWITCH_3 0x08

#define	MASK_SWITCH_4 0x10

#define	BLOCK_TIME_MIDDLE_POS 200000

#define	MSG_QUEUE_SIZE 1

#define	ARM_TASK_PRIORITY 2

#define	ARM_TASK_STACKSIZE 256

#define	TASK_DELAY 100

#define	GRIPPER_MAX 1

#define	GRIPPER_MIN 0

Enumerations
enum	arm_select { arm_left =belt_left, arm_right =belt_right }
	The arm_select enum differenciates between the different arms (left/right) More...

Functions
void	move_roboter (void *pv_data)
	Task for left and right arm. More...

void	init_arm ()
	Creates the arm tasks. More...

void	manual_arm_movement (void *pvData)
	Task to move the roboter with the Buttons. To create this task unkomment it in the function init_arm() More...

Variables
CARME_CAN_MESSAGE	robot_msg_buffer_right

CARME_CAN_MESSAGE	robot_msg_buffer_left

uint8_t	status_request [2] = {0x02,0x00}

Macros

Enumerations

Functions

Variables