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00009 #define OPCODE_VERSION "1.07.06"
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00032 #define PAN_LIMIT_HIT 220
00033 #define TILT_LIMIT_HIT 221
00034 #define CABLE_DISCONNECT_DETECTED 222
00035 #define PAN_POSITION_TRIGGER_HIT 223
00036 #define TILT_POSITION_TRIGGER_HIT 224
00037 #define PAN_SPEED_TRIGGER_HIT 225
00038 #define TILT_SPEED_TRIGGER_HIT 226
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00046
00047 #define PTU_HI_POWER 1
00048 #define PTU_REG_POWER 2
00049 #define PTU_LOW_POWER 3
00050 #define PTU_OFF_POWER 4
00051
00052
00053 #define PTU_INDEPENDENT_SPEED_CONTROL_MODE 1
00054 #define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE 2
00055
00056
00057 #define PTU_OK 0
00058 #define PTU_ILLEGAL_COMMAND 2
00059 #define PTU_ILLEGAL_POSITION_ARGUMENT 3
00060 #define PTU_ILLEGAL_SPEED_ARGUMENT 4
00061 #define PTU_ACCEL_TABLE_EXCEEDED 5
00062 #define PTU_DEFAULTS_EEPROM_FAULT 6
00063 #define PTU_SAVED_DEFAULTS_CORRUPTED 7
00064 #define PTU_LIMIT_HIT 8
00065 #define PTU_CABLE_DISCONNECTED 9
00066 #define PTU_ILLEGAL_UNIT_ID 10
00067 #define PTU_ILLEGAL_POWER_MODE 11
00068 #define PTU_RESET_FAILED 12
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00075 #define INTERACTIVE_MAIN_MENU 1
00076 #define DISPLAY_PAN_MOTOR_COMMANDS 2
00077 #define DISPLAY_TILT_MOTOR_COMMANDS 3
00078 #define DISPLAY_MENU_OPTIONS 4
00079 #define ILLEGAL_COMMAND_WITH_DELIMITER 5
00080 #define ASCII_COMMAND_WITH_NO_BINARY_EQUIV 6
00081 #define ILLEGAL_OPCODE 7
00082 #define ILLEGAL_ARGUMENT 8
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00088 #define OPCODE_BASE 129
00089 #define MAX_OPCODE 205
00090 #define NUM_OPCODES (MAX_OPCODE - OPCODE_BASE + 1)
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00095
00096 #define PAN_SET_ABS_POS 129
00097 #define TILT_SET_ABS_POS 130
00098 #define PAN_SET_REL_POS 131
00099 #define TILT_SET_REL_POS 132
00100
00101 #define PAN_SET_REL_SPEED 133
00102 #define TILT_SET_REL_SPEED 134
00103 #define PAN_SET_ABS_SPEED 135
00104 #define TILT_SET_ABS_SPEED 136
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00107 #define LAST_SIGNED_2BYTE_INT_OPCODE 136
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00111 #define PAN_SET_BASE_SPEED 137
00112 #define TILT_SET_BASE_SPEED 138
00113
00114 #define PAN_SET_UPPER_SPEED_LIMIT 139
00115 #define TILT_SET_UPPER_SPEED_LIMIT 140
00116 #define PAN_SET_LOWER_SPEED_LIMIT 141
00117 #define TILT_SET_LOWER_SPEED_LIMIT 142
00118
00119 #define SET_UNIT_ID 143
00120 #define SELECT_UNIT_ID 144
00121 #define LAST_2BYTE_INT_OPCODE 144
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00129 #define PAN_CURRENT_POS_QUERY 145
00130 #define TILT_CURRENT_POS_QUERY 146
00131 #define PAN_DESIRED_POS_QUERY 147
00132 #define TILT_DESIRED_POS_QUERY 148
00133
00134 #define PAN_MIN_POSITION_QUERY 149
00135 #define TILT_MIN_POSITION_QUERY 150
00136 #define PAN_MAX_POSITION_QUERY 151
00137 #define TILT_MAX_POSITION_QUERY 152
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00141 #define PAN_CURRENT_SPEED_QUERY 153
00142 #define TILT_CURRENT_SPEED_QUERY 154
00143 #define PAN_DESIRED_SPEED_QUERY 155
00144 #define TILT_DESIRED_SPEED_QUERY 156
00145
00146 #define PAN_BASE_SPEED_QUERY 157
00147 #define TILT_BASE_SPEED_QUERY 158
00148
00149 #define PAN_UPPER_SPEED_LIMIT_QUERY 159
00150 #define TILT_UPPER_SPEED_LIMIT_QUERY 160
00151 #define PAN_LOWER_SPEED_LIMIT_QUERY 161
00152 #define TILT_LOWER_SPEED_LIMIT_QUERY 162
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00156 #define PAN_ACCEL_QUERY 163
00157 #define TILT_ACCEL_QUERY 164
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00160 #define PAN_RESOLUTION_QUERY 165
00161 #define TILT_RESOLUTION_QUERY 166
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00165 #define AWAIT_COMMAND_COMPLETION 167
00166
00167 #define HALT 168
00168 #define HALT_PAN 169
00169 #define HALT_TILT 170
00170
00171
00172 #define POSITION_LIMITS_QUERY 171
00173 #define ENABLE_POSITION_LIMITS 172
00174 #define DISABLE_POSITION_LIMITS 173
00175
00176 #define SET_IMMEDIATE_COMMAND_MODE 174
00177
00178 #define SET_SLAVED_COMMAND_MODE 175
00179
00180 #define UNIT_RESET 176
00181 #define UNIT_RESET_ON_POWERUP 177
00182 #define UNIT_RESET_ON_POWERUP_DISABLED 178
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00185 #define UNIT_ID_QUERY 179
00186
00187
00188 #define ECHO_QUERY 180
00189 #define ENABLE_ECHO 181
00190 #define DISABLE_ECHO 182
00191
00192 #define SAVE_DEFAULTS 183
00193 #define RESTORE_SAVED_DEFAULTS 184
00194 #define RESTORE_FACTORY_DEFAULTS 185
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00197 #define PAN_HOLD_POWER_QUERY 186
00198 #define TILT_HOLD_POWER_QUERY 187
00199 #define PAN_MOVE_POWER_QUERY 188
00200 #define TILT_MOVE_POWER_QUERY 189
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00203 #define VERBOSE_QUERY 190
00204 #define SET_VERBOSE_ASCII_ON 191
00205 #define SET_VERBOSE_ASCII_OFF 192
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00208 #define JOYSTICK_QUERY 193
00209 #define ENABLE_JOYSTICK 194
00210 #define DISABLE_JOYSTICK 195
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00215 #define FIRMWARE_VERSION_QUERY 196
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00217 #define LAST_0ARG_OPCODE 196
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00226 #define PAN_SET_HOLD_POWER 197
00227 #define TILT_SET_HOLD_POWER 198
00228 #define PAN_SET_MOVE_POWER 199
00229 #define TILT_SET_MOVE_POWER 200
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00231 #define LAST_1BYTE_ARG_OPCODE 200
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00240 #define PAN_SET_ACCEL 201
00241 #define TILT_SET_ACCEL 202
00242
00243 #define LAST_4BYTE_ARG_OPCODE 202
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00250 #define SPECIAL_OPCODE 203
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00255 #define QUERY_SPEED_CONTROL_MODE 203
00256 #define SET_INDEPENDENT_CONTROL_MODE 204
00257 #define SET_PURE_VELOCITY_CONTROL_MODE 205
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