X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Factuator.c;h=c635fe92f3ea6f3eac2a797dad22aa20b097e6c7;hp=2509d7cca2ad3cc2e62337987152ee08cf65c704;hb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e;hpb=c8bae2eb9f3084d53436bc6c9fee9952dfcc1fda

diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c
index 2509d7c..c635fe9 100644
--- a/projects/microb2010/ballboard/actuator.c
+++ b/projects/microb2010/ballboard/actuator.c
@@ -40,18 +40,16 @@
 
 #include <rdline.h>
 
+#include "actuator.h"
 #include "main.h"
 
-#define ROLLER_ON      800
+#define ROLLER_ON      -ROLLER_SPEED
 #define ROLLER_OFF     0
-#define ROLLER_REVERSE -800
+#define ROLLER_REVERSE ROLLER_SPEED
 
-#define FORKROT_DEPLOYED 1000
-#define FORKROT_PACKED   0
-
-#define FORKTRANS_LEFT   0
-#define FORKTRANS_MIDDLE 500
-#define FORKTRANS_RIGHT  1000
+#define FORKROT_DEPLOYED -55000
+#define FORKROT_MID -33000
+#define FORKROT_PACKED   -4000
 
 void roller_on(void)
 {
@@ -78,17 +76,18 @@ 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)
+void fork_mid(void)
 {
-	cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT);
+	cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID);
 }
 
-void fork_middle(void)
+void actuator_init(void)
 {
-	cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE);
+	printf_P(PSTR("fork autopos..."));
+	pwm_ng_set(FORKROT_PWM, 400);
+	wait_ms(1000);
+	pwm_ng_set(FORKROT_PWM, 0);
+	encoders_spi_set_value(FORKROT_ENCODER, 0);
+	printf_P(PSTR("ok\r\n"));
+	ballboard.forkrot.on = 1;
 }