oranges and enhance strats

[aversive.git] / projects / microb2010 / ballboard / actuator.c

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index d745fa0..0dc89ff 100644 (file)
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -47,13 +47,10 @@
 #define ROLLER_OFF     0
 #define ROLLER_REVERSE ROLLER_SPEED
 
-#define FORKROT_DEPLOYED -50000
+#define FORKROT_DEPLOYED -55000
+#define FORKROT_MID -33000
 #define FORKROT_PACKED   0
 
-#define FORKTRANS_LEFT   0
-#define FORKTRANS_MIDDLE 500
-#define FORKTRANS_RIGHT  1000
-
 void roller_on(void)
 {
        cs_set_consign(&ballboard.roller.cs, ROLLER_ON);
@@ -79,17 +76,18 @@ void fork_pack(void)
        cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
 }
 
-void fork_left(void)
-{
-       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_LEFT);
-}
-
-void fork_right(void)
+void fork_mid(void)
 {
-       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT);
+       cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID);
 }
 
-void fork_middle(void)
+void actuator_init(void)
 {
-       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE);
+       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;
 }