X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=79f91cd8cd091b304a2f315298afbc05d7dadf23;hp=321727067a05465a5ace2168ab27a3095fd7fed1;hb=0c4732c1e255ea56aa766b772dfdb6be49620830;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 3217270..79f91cd 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -46,21 +46,29 @@
 #include "actuator.h"
 
 #define COBROLLER_SPEED 800
+//#define COBROLLER_SPEED 400
 
-#define SERVO_DOOR_PWM ((void *)&gen.servo2)
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#define SERVO_DOOR_OPEN 260
+#define SERVO_DOOR_CLOSED 490
+
+#define SERVO_CARRY_L_OPEN 280
+#define SERVO_CARRY_L_CLOSED 510
+
+#define SERVO_CARRY_R_OPEN 470
+#define SERVO_CARRY_R_CLOSED 250
 
 void actuator_init(void);
 
 void servo_carry_open(void)
 {
-	/* TODO */
+	pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_OPEN);
+	pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_OPEN);
 }
 
 void servo_carry_close(void)
 {
-	/* TODO */
+	pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_CLOSED);
+	pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_CLOSED);
 }
 
 void servo_door_open(void)