X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=46065409ea58f6bac22aa0e0b354e3425cd70b8b;hp=67598ea2f499df78eee673cafd63bd4e5c274b0e;hb=c5092ef0e45256f7e5ff2ceea8e1aa1cb33027db;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 67598ea..4606540 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -40,25 +40,56 @@
 
 #include <rdline.h>
 
+#include "sensor.h"
 #include "../common/i2c_commands.h"
-#include "actuator.h"
-#include "ax12_user.h"
 #include "main.h"
+#include "actuator.h"
+
+#define COBROLLER_SPEED 800
+
+#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)