20100416

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

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 4606540..8dfe8bb 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -46,20 +46,30 @@
 #include "actuator.h"
 
 #define COBROLLER_SPEED 800
+//#define COBROLLER_SPEED 400
+
+#define SERVO_DOOR_OPEN 260
+#define SERVO_DOOR_CLOSED 500
+#define SERVO_DOOR_BLOCK 500
+
+#define SERVO_CARRY_L_OPEN 295
+#define SERVO_CARRY_L_CLOSED 400 // 510
 
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#define SERVO_CARRY_R_OPEN 455
+#define SERVO_CARRY_R_CLOSED 350 // 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)
@@ -72,24 +82,33 @@ void servo_door_close(void)
        pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
 }
 
-void left_cobroller_on(void)
+void servo_door_block(void)
 {
-       cobboard.left_cobroller_speed = COBROLLER_SPEED;
+       pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_BLOCK);
 }
 
-void right_cobroller_on(void)
+void cobroller_on(uint8_t side)
 {
-       cobboard.right_cobroller_speed = COBROLLER_SPEED;
+       if (side == I2C_LEFT_SIDE)
+               cobboard.left_cobroller_speed = COBROLLER_SPEED;
+       else
+               cobboard.right_cobroller_speed = -COBROLLER_SPEED;
 }
 
-void left_cobroller_off(void)
+void cobroller_off(uint8_t side)
 {
-       cobboard.left_cobroller_speed = 0;
+       if (side == I2C_LEFT_SIDE)
+               cobboard.left_cobroller_speed = 0;
+       else
+               cobboard.right_cobroller_speed = 0;
 }
 
-void right_cobroller_off(void)
+void cobroller_reverse(uint8_t side)
 {
-       cobboard.right_cobroller_speed = 0;
+       if (side == I2C_LEFT_SIDE)
+               cobboard.left_cobroller_speed = -COBROLLER_SPEED;
+       else
+               cobboard.right_cobroller_speed = COBROLLER_SPEED;
 }
 
 void actuator_init(void)