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--- robotsoftware:mobotware:rhd:plugins:hakocan [2012/09/06 16:06]
claes created
+++ robotsoftware:mobotware:rhd:plugins:hakocan [2012/09/06 16:12]
claes
@@ Line 3: / Line 3: @@
 [[http://mpt-internal.uni-hohenheim.de/documentation/mobotware/rhd/hakocan/html/index.html]]
 ===== Source Code =====
+The plugin contains 3 files. all are listed below.
+<file c hakocan.h>
+/** \file hakocan.h
+ *  \ingroup hwmodule
+ *  \brief Hardware abstraction layer for HAKO Tractor can-bus control
+ *
+ *  This liberary inplements the hardware abstraction layer
+ *  for communicating using CAN-BUS on the KU-Life
+ *  HAKO Automated tractor
+ *
+ *  Communication is adjusted directly for the instruction-set
+ *  on the HAKO ECU and is based on the HAKO implemention
+ *  project by Anders Reeske Nilsen and Asbjørn Mejnertsen in 2006
+ *
+ *  \author Nils A. Andersen & Anders Billesø Beck, DTU
+ *  $Rev: 1570 $
+ *  $Date: 2011-07-02 06:52:23 +0200 (Sat, 02 Jul 2011) $
+ *
+ */
+#ifndef HAKOCAN_H
+  #define HAKOCAN_H
+	extern int initXML(char *);
+	extern int periodic(int);
+	//extern ”C” int terminate (void) ; //No shutdown function
+	#define RPMCMD			0x200
+	#define CURVATURECMD 		0x141
+	#define STEERINGREPORTREQ	0x408
+	#define STEERINGREPORT		0x409
+	#define CVTCONTROLCMD		0x080
+	#define STEERINGANGLECMD	0x142
+	#define HITCHCMD		0x090
+	#define CVTACK			0x750
+	#define STEERINGANGLEACK	0x75A
+	#define STEERINGACK		0x758
+	#define HORNCMD			0x610
+	#define HORNACK			0x740
+#endif
+</file>
 <sxh c; title:hakocan.h>
 /** \file hakocan.h

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