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pack spickles when opponent is near
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
actuator.c
diff --git
a/projects/microb2010/mainboard/actuator.c
b/projects/microb2010/mainboard/actuator.c
index
19d2fc7
..
9ed1d63
100644
(file)
--- a/
projects/microb2010/mainboard/actuator.c
+++ b/
projects/microb2010/mainboard/actuator.c
@@
-31,7
+31,7
@@
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
@@
-48,6
+48,7
@@
#include <rdline.h>
#include "main.h"
#include <rdline.h>
#include "main.h"
+#include "robotsim.h"
void pwm_set_and_save(void *pwm, int32_t val)
{
void pwm_set_and_save(void *pwm, int32_t val)
{
@@
-57,21
+58,35
@@
void pwm_set_and_save(void *pwm, int32_t val)
val = 4095;
if (val < -4095)
val = -4095;
val = 4095;
if (val < -4095)
val = -4095;
-
+
if (pwm == LEFT_PWM)
mainboard.pwm_l = val;
else if (pwm == RIGHT_PWM)
mainboard.pwm_r = val;
if (pwm == LEFT_PWM)
mainboard.pwm_l = val;
else if (pwm == RIGHT_PWM)
mainboard.pwm_r = val;
+#ifdef HOST_VERSION
+ robotsim_pwm(pwm, val);
+#else
pwm_ng_set(pwm, val);
pwm_ng_set(pwm, val);
+#endif
}
}
-void
pickup_wheels_on
(void)
+void
support_balls_deploy
(void)
{
{
- mainboard.enable_pickup_wheels = 1;
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165);
+#endif
}
}
-void
pickup_wheels_off
(void)
+void
support_balls_pack
(void)
{
{
- mainboard.enable_pickup_wheels = 0;
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 290);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 430);
+#endif
}
}
+void actuator_init(void)
+{
+
+}