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73 lines
3.2 KiB
73 lines
3.2 KiB
/***************************************************************************** |
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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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