*****************************************************************************
***          Position and Heading Actuator                                ***
*****************************************************************************
fmod POSANDHEAD-ACTUATOR is
  inc ACTUATOR .
  inc PHCONTROLLER-PHACTUATOR-INTERFACE .
  inc ROVER-PHACTUATOR-INTERFACE .

  sort PosAndHeadActuatorCid .
  subsort PosAndHeadActuatorCid < ActuatorCid .

  *** Specification of `executeCmd'
  eq executeCmd(drive) = drive .
  eq executeCmd(turn) = turn .
 
endfm
		   
mod POSANDHEAD-ACTUATOR-TEST is
  inc POSANDHEAD-ACTUATOR .

  op PosAndHeadActuator : -> PosAndHeadActuatorCid .

  op myphactuator : -> Object .
  eq myphactuator =
     < o("MyPosAndHeadActuator") : PosAndHeadActuator | 
                                          mydevice(o("MyRover")),
                                          myctrl(o("MyPosAndHeadCtrl")),
                                          executedCmd(noCmd) > .
endm