add ballboard commands on mainboard

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

diff --git a/projects/microb2010/mainboard/actuator.c b/projects/microb2010/mainboard/actuator.c
index 19d2fc7..1d134bb 100644 (file)
--- a/projects/microb2010/mainboard/actuator.c
+++ b/projects/microb2010/mainboard/actuator.c
@@ -31,7 +31,7 @@
 #include <pwm_ng.h>
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -65,13 +65,19 @@ void pwm_set_and_save(void *pwm, int32_t val)
        pwm_ng_set(pwm, val);
 }
 
-void pickup_wheels_on(void)
+void support_balls_deploy(void)
 {
-       mainboard.enable_pickup_wheels = 1;
+       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 510);
+       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 205);
 }
 
-void pickup_wheels_off(void)
+void support_balls_pack(void)
 {
-       mainboard.enable_pickup_wheels = 0;
+       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 250);
+       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 480);
 }
 
+void actuator_init(void)
+{
+
+}