cobboard updated

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

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8c15480..cebcd2a 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -42,23 +42,55 @@
 
 #include "sensor.h"
 #include "../common/i2c_commands.h"
-#include "actuator.h"
 #include "main.h"
+#include "actuator.h"
+
+#define COBROLLER_SPEED 800
+//#define COBROLLER_SPEED 400
+
+#define SERVO_DOOR_OPEN 250
+#define SERVO_DOOR_CLOSED 470
+
+void actuator_init(void);
 
 void servo_carry_open(void)
 {
+       /* TODO */
 }
 
 void servo_carry_close(void)
 {
+       /* TODO */
 }
 
 void servo_door_open(void)
 {
+       pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_OPEN);
 }
 
 void servo_door_close(void)
 {
+       pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
+}
+
+void left_cobroller_on(void)
+{
+       cobboard.left_cobroller_speed = COBROLLER_SPEED;
+}
+
+void right_cobroller_on(void)
+{
+       cobboard.right_cobroller_speed = COBROLLER_SPEED;
+}
+
+void left_cobroller_off(void)
+{
+       cobboard.left_cobroller_speed = 0;
+}
+
+void right_cobroller_off(void)
+{
+       cobboard.right_cobroller_speed = 0;
 }
 
 void actuator_init(void)