cobboard: better actions + i2c

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

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 6d71e58..abf0c42 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -42,6 +42,10 @@
 #include "main.h"
 #include "shovel.h"
 
+#define SHOVEL_DOWN 100
+#define SHOVEL_MID  4900
+#define SHOVEL_UP   10000
+
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
@@ -64,6 +68,24 @@ static uint8_t shovel_is_at_pos(int32_t pos)
        return 0;
 }
 
+void shovel_down(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 20);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
 uint8_t shovel_is_up(void)
 {
        return shovel_is_at_pos(SHOVEL_UP);