X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Factuator.c;h=cf9517fa963160e476bc380a1bf1e03c0fb95b7e;hb=04f1061f2c5959ce87f632591576097f540dfc14;hp=367e241d273cc458661930cc4a137d0333d13cfa;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;p=aversive.git

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 367e241..cf9517f 100644
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -40,5 +40,82 @@
 
 #include <rdline.h>
 
+#include "actuator.h"
 #include "main.h"
 
+#define ROLLER_ON      -ROLLER_SPEED
+#define ROLLER_OFF     0
+#define ROLLER_REVERSE ROLLER_SPEED
+
+#define FORKROT_DEPLOYED -55000
+#define FORKROT_MID1 -31000
+#define FORKROT_MID2 -27000
+#define FORKROT_EJECT   -12000
+#define FORKROT_PACKED   -4000
+
+void roller_on(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_ON);
+}
+
+void roller_off(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_OFF);
+}
+
+void roller_reverse(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_REVERSE);
+}
+
+void fork_deploy(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_DEPLOYED);
+}
+
+void fork_pack(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
+}
+
+void fork_mid1(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID1);
+}
+
+void fork_mid2(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID2);
+}
+
+void fork_eject(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_EJECT);
+}
+
+static uint8_t fork_is_at_pos(int32_t pos)
+{
+	int32_t diff;
+	diff = pos - encoders_spi_get_value(FORKROT_ENCODER);
+	if (diff < 0)
+		diff = -diff;
+	if (diff < 500)
+		return 1;
+	return 0;
+}
+
+uint8_t fork_is_packed(void)
+{
+	return fork_is_at_pos(FORKROT_PACKED);
+}
+
+void actuator_init(void)
+{
+	printf_P(PSTR("fork autopos..."));
+	pwm_ng_set(FORKROT_PWM, 400);
+	wait_ms(1000);
+	pwm_ng_set(FORKROT_PWM, 0);
+	encoders_spi_set_value(FORKROT_ENCODER, 0);
+	printf_P(PSTR("ok\r\n"));
+	ballboard.forkrot.on = 1;
+}