cobboard

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

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 3217270..79f91cd 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -46,21 +46,29 @@
 #include "actuator.h"
 
 #define COBROLLER_SPEED 800
+//#define COBROLLER_SPEED 400
 
-#define SERVO_DOOR_PWM ((void *)&gen.servo2)
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#define SERVO_DOOR_OPEN 260
+#define SERVO_DOOR_CLOSED 490
+
+#define SERVO_CARRY_L_OPEN 280
+#define SERVO_CARRY_L_CLOSED 510
+
+#define SERVO_CARRY_R_OPEN 470
+#define SERVO_CARRY_R_CLOSED 250
 
 void actuator_init(void);
 
 void servo_carry_open(void)
 {
-       /* TODO */
+       pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_OPEN);
+       pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_OPEN);
 }
 
 void servo_carry_close(void)
 {
-       /* TODO */
+       pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_CLOSED);
+       pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_CLOSED);
 }
 
 void servo_door_open(void)