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cup1
[aversive.git]
/
projects
/
microb2010
/
ballboard
/
actuator.c
diff --git
a/projects/microb2010/ballboard/actuator.c
b/projects/microb2010/ballboard/actuator.c
index
2509d7c
..
c635fe9
100644
(file)
--- a/
projects/microb2010/ballboard/actuator.c
+++ b/
projects/microb2010/ballboard/actuator.c
@@
-40,18
+40,16
@@
#include <rdline.h>
#include <rdline.h>
+#include "actuator.h"
#include "main.h"
#include "main.h"
-#define ROLLER_ON
800
+#define ROLLER_ON
-ROLLER_SPEED
#define ROLLER_OFF 0
#define ROLLER_OFF 0
-#define ROLLER_REVERSE
-800
+#define ROLLER_REVERSE
ROLLER_SPEED
-#define FORKROT_DEPLOYED 1000
-#define FORKROT_PACKED 0
-
-#define FORKTRANS_LEFT 0
-#define FORKTRANS_MIDDLE 500
-#define FORKTRANS_RIGHT 1000
+#define FORKROT_DEPLOYED -55000
+#define FORKROT_MID -33000
+#define FORKROT_PACKED -4000
void roller_on(void)
{
void roller_on(void)
{
@@
-78,17
+76,18
@@
void fork_pack(void)
cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
}
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.fork
trans.cs, FORKTRANS_RIGHT
);
+ cs_set_consign(&ballboard.fork
rot.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;
}
}