20100416

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

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 6811854..8dfe8bb 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -49,8 +49,8 @@
 //#define COBROLLER_SPEED 400
 
 #define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 510
-#define SERVO_DOOR_BLOCK 510
+#define SERVO_DOOR_CLOSED 500
+#define SERVO_DOOR_BLOCK 500
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510
@@ -103,6 +103,14 @@ void cobroller_off(uint8_t side)
                cobboard.right_cobroller_speed = 0;
 }
 
+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)
 {