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/* track.c
*
* Experimental motion tracking.
*
* Copyright 2000, Jeroen Vreeken
* This program is published under the GNU Public license
*/
#ifndef _INCLUDE_TRACK_H
#define _INCLUDE_TRACK_H
#include "alg.h"
struct trackoptions {
int dev;
/* Config options: */
char *port;
int motorx;
int maxx;
int iomojo_id;
};
extern struct trackoptions track;
int track_center(void);
int track_move(int dev, int pipe, int mpipe, struct coord cent, struct images *imgs);
/*
Some defines for the Serial stepper motor:
*/
#define STEPPER_BAUDRATE B9600
#define STEPPER_STATUS_LEFT 1
#define STEPPER_STATUS_RIGHT 2
#define STEPPER_STATUS_SAFETYL 4
#define STEPPER_STATUS_SAFETYR 8
#define STEPPER_COMMAND_STATUS 0
#define STEPPER_COMMAND_LEFT_N 1
#define STEPPER_COMMAND_RIGHT_N 2
#define STEPPER_COMMAND_LEFT 3
#define STEPPER_COMMAND_RIGHT 4
#define STEPPER_COMMAND_SWEEP 5
#define STEPPER_COMMAND_STOP 6
#define STEPPER_COMMAND_SPEED 7
/*
Some defines for the Iomojo Smilecam:
*/
#define IOMOJO_BAUDRATE B19200
#define IOMOJO_CHECKPOWER_CMD 0xff
#define IOMOJO_CHECKPOWER_RET 'Q'
#define IOMOJO_MOVEOFFSET_CMD 0xfe
#define IOMOJO_SETSPEED_CMD 0xfd
#define IOMOJO_SETSPEED_RET 'P'
#define IOMOJO_MOVEHOME 0xf9
#define IOMOJO_RESTART 0xf7
#define IOMOJO_DIRECTION_RIGHT 0x01
#define IOMOJO_DIRECTION_LEFT 0x02
#define IOMOJO_DIRECTION_DOWN 0x04
#define IOMOJO_DIRECTION_UP 0x08
#endif /* _INCLUDE_TRACK_H */
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