/home/fwph/code/wurde/modules/ptu/ptu_types.h

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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

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