/***************************************************************************

Arm.h

ME 218B Project Hats Off

Team Firefox

March 7, 2010

Upper arm stepper = PS2, PS3, PP0, PP2

Lower arm servo = Timer0 PT2, Timer 6

DDRT = 0x4; //00000100 for servo

DDRP = 0x05; //00000101 for stepper 1=output

DDRS = 0x0C; //00001100 for stepper 1=output

***************************************************************************/

#ifndef Arm_h

#define Arm_h

/*-------------------------- Include Files -----------------------------*/

#include <stdio.h>

#include <termio.h>

#include <hidef.h>

#include <mc9s12e128.h>

#include <bitdefs.h>

#include <S12E128bits.h>

#include "S12eVec.h"

#include "myTimer.h"

#include "ADS12.h"

#include "ME218_E128.h"

//included with main.c for E128

/* common defines and macros */

/* derivative information */

#pragma LINK_INFO DERIVATIVE "SampleS12"

/*-------------------------- Module Functions -----------------------------*/

void Arm_Init(void);

//Checks to see if the arm has stopped moving

char isArmStopped(void);

//Swing the arm to the target height (either high or low)

void swingArm(int targetNum);

//Set servo and stepper to attack position

void goToAttackPosition(void);

//Set servo and stepper to home position

void goToHomePosition(void);

//Checks if the arm has stopped waving.

char isWaveStopped(void);

//Begin the wave sequence in the servo and stepper

void waveArm(void);

#endif