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serpi mod roll speed; servo pos; ball pos
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
actuator.c
diff --git
a/projects/microb2010/cobboard/actuator.c
b/projects/microb2010/cobboard/actuator.c
index
6811854
..
8a15ca9
100644
(file)
--- a/
projects/microb2010/cobboard/actuator.c
+++ b/
projects/microb2010/cobboard/actuator.c
@@
-45,18
+45,19
@@
#include "main.h"
#include "actuator.h"
#include "main.h"
#include "actuator.h"
-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 1200
+//#define COBROLLER_SPEED 600
//#define COBROLLER_SPEED 400
//#define COBROLLER_SPEED 400
-#define SERVO_DOOR_OPEN
26
0
-#define SERVO_DOOR_CLOSED 5
1
0
-#define SERVO_DOOR_BLOCK 5
1
0
+#define SERVO_DOOR_OPEN
30
0
+#define SERVO_DOOR_CLOSED 5
3
0
+#define SERVO_DOOR_BLOCK 5
3
0
#define SERVO_CARRY_L_OPEN 295
#define SERVO_CARRY_L_OPEN 295
-#define SERVO_CARRY_L_CLOSED 400 // 510
+#define SERVO_CARRY_L_CLOSED 4
40//4
00 // 510
#define SERVO_CARRY_R_OPEN 455
#define SERVO_CARRY_R_OPEN 455
-#define SERVO_CARRY_R_CLOSED 350 // 250
+#define SERVO_CARRY_R_CLOSED 3
10//3
50 // 250
void actuator_init(void);
void actuator_init(void);
@@
-103,7
+104,16
@@
void cobroller_off(uint8_t side)
cobboard.right_cobroller_speed = 0;
}
cobboard.right_cobroller_speed = 0;
}
-void
actuator_init(void
)
+void
cobroller_reverse(uint8_t side
)
{
{
+ if (side == I2C_LEFT_SIDE)
+ cobboard.left_cobroller_speed = -COBROLLER_SPEED;
+ else
+ cobboard.right_cobroller_speed = COBROLLER_SPEED;
+}
+void actuator_init(void)
+{
+ servo_door_open();
+ servo_carry_open();
}
}