00001 #include "serva.h"
00002
00003 void releaseFront(void) {
00004 robot.serva.release = FRONT_LAUNCH_OPEN;
00005 ORTEPublicationSend(robot.publisherServa);
00006 }
00007
00008 void lockFront(void) {
00009 robot.serva.release = FRONT_LAUNCH_LOCK;
00010 ORTEPublicationSend(robot.publisherServa);
00011 }
00012
00013 void frontDoorUp(void) {
00014 robot.serva.frontDoor = FRONT_DOOR_UP;
00015 ORTEPublicationSend(robot.publisherServa);
00016 }
00017
00018 void frontDoorDown(void) {
00019 robot.serva.frontDoor = FRONT_DOOR_DOWN;
00020 ORTEPublicationSend(robot.publisherServa);
00021 }
00022
00023 void innerDoorUp(void) {
00024 robot.serva.innerDoor = INNER_DOOR_UP;
00025 ORTEPublicationSend(robot.publisherServa);
00026 }
00027
00028 void innerDoorDown(void) {
00029 robot.serva.innerDoor = INNER_DOOR_DOWN;
00030 ORTEPublicationSend(robot.publisherServa);
00031 }
00032
00033 void backDoorUp(void) {
00034 robot.serva.backDoor = BACK_DOOR_UP;
00035 ORTEPublicationSend(robot.publisherServa);
00036 }
00037
00038 void backDoorDown(void) {
00039 robot.serva.backDoor = BACK_DOOR_DOWN;
00040 ORTEPublicationSend(robot.publisherServa);
00041 }
00042
00043 void frontTransporterForward(void) {
00044 robot.serva.transporterFront = FRONT_TRANSPORTER_FORWARD;
00045 ORTEPublicationSend(robot.publisherServa);
00046 }
00047
00048 void frontTransporterForwardFast(void) {
00049 robot.serva.transporterFront = FRONT_TRANSPORTER_FORWARD_FAST;
00050 ORTEPublicationSend(robot.publisherServa);
00051 }
00052
00053 void frontTransporterStop(void) {
00054 robot.serva.transporterFront = FRONT_TRANSPORTER_STOP;
00055 ORTEPublicationSend(robot.publisherServa);
00056 }
00057
00058 void frontTransporterBackward(void) {
00059 robot.serva.transporterFront = FRONT_TRANSPORTER_BACKWARD;
00060 ORTEPublicationSend(robot.publisherServa);
00061 }
00062
00063 void innerTransporterLeft(void) {
00064 robot.serva.transporterInner = INNER_TRANSPORTER_LEFT;
00065 ORTEPublicationSend(robot.publisherServa);
00066 }
00067
00068 void innerTransporterRight(void) {
00069 robot.serva.transporterInner = INNER_TRANSPORTER_RIGHT;
00070 ORTEPublicationSend(robot.publisherServa);
00071 }
00072
00073 void innerTransporterStop(void) {
00074 robot.serva.transporterInner = INNER_TRANSPORTER_STOP;
00075 ORTEPublicationSend(robot.publisherServa);
00076 }
00077
