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74 lines
3.2 KiB
74 lines
3.2 KiB
15 years ago
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/*****************************************************************************
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* Copyright (c) 2008, University of Florida
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* All rights reserved.
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*
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* This file is part of OpenJAUS. OpenJAUS is distributed under the BSD
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* license. See the LICENSE file for details.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the University of Florida nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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****************************************************************************/
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// File: pd.h
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// Version: 0.4 alpha
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// Written by: Tom Galluzzo (galluzzt@ufl.edu)
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// Date: 07/01/2005
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// Description: This file contains the skeleton C header file code for implementing the pd.c file
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// How To Use This File:
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// All comments labled "USER:" specify lines of code that the end user must change to implement thier individual component
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// The end user must also change all functions and variables in this file begining with "pd"
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// This substring must be changed to the component identifier acronym of the individual component, and
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// this file should also be renamed likewise
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// Ex: For a Primitive Driver component change all "pd" to "pd"
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// Also Change all "PD" to your component acronym (ALL CAPS)
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#ifndef PD_H
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#define PD_H
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#include <jaus.h>
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#include <openJaus.h>
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#ifndef FALSE
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#define FALSE 0
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#endif
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#ifndef TRUE
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#define TRUE 1
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#endif
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#define PD_THREAD_DESIRED_RATE_HZ 50.0 // USER: Modify this rate as needed
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// USER: All defines should start with "PD_", where your component acronym replaces "PD"
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OjCmpt pdCreate(void);
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void pdDestroy(OjCmpt pd);
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// USER: Insert prototypes for added public function here
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JausBoolean pdGetControllerScStatus(OjCmpt pd);
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JausState pdGetControllerState(OjCmpt pd);
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SetWrenchEffortMessage pdGetWrenchEffort(OjCmpt pd);
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#endif // PD_H
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