enhance debug sensors on ballboard
[aversive.git] / projects / microb2010 / cobboard / actuator.c
1 /*
2  *  Copyright Droids Corporation (2009)
3  *
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.
8  *
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.
13  *
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
17  *
18  *  Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
19  *
20  */
21
22 #include <aversive.h>
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
26
27 #include <ax12.h>
28 #include <uart.h>
29 #include <spi.h>
30 #include <encoders_spi.h>
31 #include <pwm_ng.h>
32 #include <timer.h>
33 #include <scheduler.h>
34 #include <clock_time.h>
35
36 #include <pid.h>
37 #include <quadramp.h>
38 #include <control_system_manager.h>
39 #include <blocking_detection_manager.h>
40
41 #include <rdline.h>
42
43 #include "sensor.h"
44 #include "../common/i2c_commands.h"
45 #include "main.h"
46 #include "actuator.h"
47
48 #define COBROLLER_SPEED 1200
49 //#define COBROLLER_SPEED 600
50 //#define COBROLLER_SPEED 400
51
52 #define SERVO_DOOR_OPEN 300
53 #define SERVO_DOOR_CLOSED 530
54 #define SERVO_DOOR_BLOCK 530
55
56 #define SERVO_CARRY_L_OPEN 295
57 #define SERVO_CARRY_L_CLOSED 440//400 // 510
58
59 #define SERVO_CARRY_R_OPEN 455
60 #define SERVO_CARRY_R_CLOSED 310//350 // 250
61
62 void actuator_init(void);
63
64 void servo_carry_open(void)
65 {
66         pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_OPEN);
67         pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_OPEN);
68 }
69
70 void servo_carry_close(void)
71 {
72         pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_CLOSED);
73         pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_CLOSED);
74 }
75
76 void servo_door_open(void)
77 {
78         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_OPEN);
79 }
80
81 void servo_door_close(void)
82 {
83         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
84 }
85
86 void servo_door_block(void)
87 {
88         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_BLOCK);
89 }
90
91 void cobroller_on(uint8_t side)
92 {
93         if (side == I2C_LEFT_SIDE)
94                 cobboard.left_cobroller_speed = COBROLLER_SPEED;
95         else
96                 cobboard.right_cobroller_speed = -COBROLLER_SPEED;
97 }
98
99 void cobroller_off(uint8_t side)
100 {
101         if (side == I2C_LEFT_SIDE)
102                 cobboard.left_cobroller_speed = 0;
103         else
104                 cobboard.right_cobroller_speed = 0;
105 }
106
107 void cobroller_reverse(uint8_t side)
108 {
109         if (side == I2C_LEFT_SIDE)
110                 cobboard.left_cobroller_speed = -COBROLLER_SPEED;
111         else
112                 cobboard.right_cobroller_speed = COBROLLER_SPEED;
113 }
114
115 void actuator_init(void)
116 {
117         servo_door_open();
118         servo_carry_open();
119 }