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

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 367e241..7365427 100644 (file)
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -42,3 +42,53 @@
 
 #include "main.h"
 
+#define ROLLER_ON      -1200
+#define ROLLER_OFF     0
+#define ROLLER_REVERSE 1200
+
+#define FORKROT_DEPLOYED -50000
+#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);
+}
+
+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_left(void)
+{
+       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_LEFT);
+}
+
+void fork_right(void)
+{
+       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT);
+}
+
+void fork_middle(void)
+{
+       cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE);
+}