/*
Copyright (c) 2010, Dale Weber <robotguy@hybotics.org>
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following
conditions are met:

    * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
		in the documentation and/or other materials provided with the distribution.
    * Neither the name of Hybrid Robotics nor the names of its contributors may be used to endorse or promote products derived
		from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Project:	Software for W.A.L.T.E.R.,
			the Wheeled Autonomous Learning Terrain Exploring Roving
Date:		15-May-2010
Version:	2.0.01
Author:		Dale Weber (robotguy@hybotics.org)
Controller:	AXON by Society of Robots
			SSC-32 Servo Controller by Lynxmotion
			Sabertooth 2X5 motor controller by Dimension Engineering
Power:		6V@2800 mAH batery for and servos
			7.2V@2800 mAH battery for motors and motor controller
			7.2V@2000 mAH battery for the electronics
Notes:		This software uses the Webbot framework, found at http://sourceforge.net/projects/webbotavrclib/
*/

#ifndef CONTROL_H
#define CONTROL_H

// UART definitions
#define	SSC32		UART0		// Servo controller
#define CONSOLE		UART1		// Console (USB)
#define ROBOCLAW	UART2		// Motor controllers
#define SABERTOOTH	UART2		// Motor controllers
#define XBEE		UART3		// Wireless

#define	STATUS_LED		B6

// Sensor maximum number and position definitions
#define	PING_MAX		8		// Maximum number of PING ultrasonic sensors
#define	GP2D12_MAX		8		// Maximum number of Sharp GP2D12 IR sensors
#define PING_NR			1		// Actual number of PING ultrasonic sensors on WALTER
#define GP2D12_NR		1		// Actual number of Sharp GP2D12 IR sensors on WALTER

// Sensor positions on WALTER (8 points)
#define	SENS_CENTER		0
#define	SENS_RFWHEEL	1
#define	SENS_RIGHT		2
#define	SENS_RRWHEEL	3
#define	SENS_REAR		4
#define	SENS_LRWHEEL	5
#define	SENS_LEFT		6
#define	SENS_LFWHEEL	7

// Number of servos
#define SERVO_MAX		32
#define SERVO_NR		22

// Servo indexes into the servo array for the hybrid legs
#define RFHip			0
#define RFKnee			1
#define RFTibia			2
#define RFSteer			3
#define RFankle			4

#define RRHip			5
#define RRKnee			6
#define RRTibia			7
#define RRSteer			8
#define RRAnkle			9

#define LFHip			10
#define LFKnee			11
#define LFTibia			12
#define LFSteer			13
#define LFAnkle			14

#define LRHip			15
#define LRKnee			16
#define LRTibia			17
#define LRSteer			18
#define LRAnkle			19

// Front pan/tilt servos
#define	SENS_PAN		20
#define SENS_TILT		21

// Will hold servo data in an array of this struct
typedef struct servo_def {
	unsigned int pin;		// Servo pin number (0 - 31)
	int offset;				// uS offset from 1500uS for center position
	int homep;				// Home position in uS
	int currpos;			// Current position in uS (500 - 2500)
	int angle;				// Angle of servo -90 to +90 degrees
} SERVO;

#endif