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cobboard: better actions + i2c
[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 COBROLLER_SPEED 400
#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 5
1
0
-#define SERVO_DOOR_BLOCK 5
1
0
+#define SERVO_DOOR_CLOSED 5
0
0
+#define SERVO_DOOR_BLOCK 5
0
0
#define SERVO_CARRY_L_OPEN 295
#define SERVO_CARRY_L_CLOSED 400 // 510
#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;
}
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)
{
void actuator_init(void)
{