optim cobboard

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

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 6811854..8d2355d 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,12 +45,12 @@
 #include "main.h"
 #include "actuator.h"
 
-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 600
 //#define COBROLLER_SPEED 400
 
-#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 510
-#define SERVO_DOOR_BLOCK 510
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510
@@ -103,7 +103,16 @@ void cobroller_off(uint8_t side)
                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();
 }