00001 #ifndef SPANTILT_TYPES_H 00002 #define SPANTILT_TYPES_H 00003 00004 00005 struct ptu_sensors{ 00006 float pan; 00007 float tilt; 00008 float pan_vel; 00009 float tilt_vel; 00010 float pan_accel; 00011 float tilt_accel; 00012 }; 00013 00014 typedef struct ptu_sensors ptu_sensors_t; 00015 00016 struct ptu_actuator{ 00017 float pan; 00018 float tilt; 00019 float pan_vel; 00020 float tilt_vel; 00021 float pan_accel; 00022 float tilt_accel; 00023 float pan_upper_limit; 00024 float tilt_upper_limit; 00025 }; 00026 00027 typedef struct ptu_actuator ptu_actuator_t; 00028 00029 enum command{ 00030 block_till_done 00031 }; 00032 00033 struct ptu_command{ 00034 enum command c; 00035 char replyfifo[100]; 00036 int intarg; 00037 }; 00038 typedef struct ptu_command ptu_command_t; 00039 00040 00041 #endif