X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Factuator.c;h=7365427cd61d5625b1dfff9b0ec617046370edd2;hp=367e241d273cc458661930cc4a137d0333d13cfa;hb=6914527de2ecfef9d790740c71739e7418246b96;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 367e241..7365427 100644
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -42,3 +42,53 @@
 
 #include "main.h"
 
+#define ROLLER_ON      -1200
+#define ROLLER_OFF     0
+#define ROLLER_REVERSE 1200
+
+#define FORKROT_DEPLOYED -50000
+#define FORKROT_PACKED   0
+
+#define FORKTRANS_LEFT   0
+#define FORKTRANS_MIDDLE 500
+#define FORKTRANS_RIGHT  1000
+
+void roller_on(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_ON);
+}
+
+void roller_off(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_OFF);
+}
+
+void roller_reverse(void)
+{
+	cs_set_consign(&ballboard.roller.cs, ROLLER_REVERSE);
+}
+
+void fork_deploy(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_DEPLOYED);
+}
+
+void fork_pack(void)
+{
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
+}
+
+void fork_left(void)
+{
+	cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_LEFT);
+}
+
+void fork_right(void)
+{
+	cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT);
+}
+
+void fork_middle(void)
+{
+	cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE);
+}