2 * Copyright Droids Corporation (2010)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
30 #include <encoders_spi.h>
33 #include <scheduler.h>
34 #include <clock_time.h>
38 #include <control_system_manager.h>
39 #include <blocking_detection_manager.h>
45 /* init spickle position at beginning */
46 static void shovel_autopos(void)
48 printf_P(PSTR("shovel autopos..."));
49 pwm_ng_set(SHOVEL_PWM, -500);
51 pwm_ng_set(LEFT_SPICKLE_PWM, 0);
52 encoders_spi_set_value(SHOVEL_ENCODER, 0);
53 printf_P(PSTR("ok\r\n"));
56 static uint8_t shovel_is_at_pos(int32_t pos)
59 diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
67 uint8_t shovel_is_up(void)
69 return shovel_is_at_pos(SHOVEL_UP);
72 uint8_t shovel_is_down(void)
74 return shovel_is_at_pos(SHOVEL_DOWN);
77 void shovel_init(void)
80 cobboard.shovel.on = 1;