Pioneer Module Mobile manual Momentary switch, 0 is pressed

/* gripper control bits (DIGOUTPUT) */

#define sfGRIPSTATEMASK 0x05 /* picks out state bits in DIGOUTPUT */ #define sfGRIPMOTORBIT 0x02 /* motor bit, 0 is off, 1 is on */

#define sfGRIPDIRBIT 0x01				/* direction bit, 0 is down, 1 is up */
#define sfSPEAKERBIT			0x04
#define sfRIGHTLEDBIT			0x08	/* 0 is off, 1 is on */
#define sfLEFTLEDBIT		0x10
/* gripper sense bits (DIGINPUT) */
#define sfGRIPTOPBIT			0x01	/* top limit, 0 if hit */
#define sfGRIPMIDBIT		0x02		/* mid-level, 0 if hit */
#define sfGRIPBOTBIT			0x04	/* bottom limit, 0 if hit */
#define sfGRIPINIRBIT		0x08		/* inner IR, 0 is beam break */
#define sfGRIPOUTIRBIT			0x10	/* outer IR */
#define sfGRIPBUMPBIT			0x20	/* gripper bumpers, 0 is bump */
#define sfGRIPMOMBIT			0x40	/* momentary switch, 0 is pressed */
#define sfGRIPSPSTBIT			0x80	/* SPST switch, 0 is up */
int	/* returns the robot gripper state setpoint */

sfGripperGetState(void)

{

if (flakey.digoutput & sfGRIPMOTORBIT) return sfMOVING;

else

return flakey.digoutput & sfGRIPSTATEMASK;

}
void	/* sets robot gripper state setpoint */

sfGripperSetState(int state)

{

sfRobotComInt(sfCOMGRIPPER, state & sfGRIPSTATEMASK);

}

void/* sfLEFT, sfRIGHT, sfON, sfOFF */ sfGripperSetLed(int which, int state)

{

switch(which)

{

case sfLEFT:

which = sfLEFTLEDBIT;

break;

(continued)

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