scoutos / scout / libscout / src / libheadlights.h @ 90c7a37c
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1 | 90c7a37c | Ben Wasserman | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file libheadlights.h
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29 | * @brief Contains headlights declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * headlights
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * @author Ben Wasserman
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36 | **/
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37 | |||
38 | #include "ros/ros.h" |
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39 | #include "constants.h" |
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40 | #include "headlights/set_headlights.h" |
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41 | |||
42 | #ifndef _LIBheadlights_H_
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43 | #define _LIBheadlights_H_
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44 | |||
45 | /* Defines */
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46 | #define WHITE 0xFFFFFF |
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47 | #define OFF 0x000000 |
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48 | #define RED 0xFF0000 |
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49 | #define GREEN 0x00FF00 |
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50 | #define BLUE 0x0000FF |
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51 | #define YELLOW 0xFFFF00 |
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52 | #define CYAN 0x00FFFF |
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53 | #define PINK 0xFF00FF |
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54 | |||
55 | #define HL_RIGHT 0x1 |
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56 | #define HL_LEFT 0x2 |
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57 | #define HL_BOTH 0x3 |
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58 | |||
59 | #define REDSHIFT 16 |
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60 | #define GREENSHIFT 8 |
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61 | #define BLUESHIFT 0 |
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62 | |||
63 | void libheadlights_init();
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64 | int headlights_set(int color, int which); |
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65 | int headlights_set_rgb(int red, int green, int blue, int which); |
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66 | |||
67 | #endif
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