X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=79f91cd8cd091b304a2f315298afbc05d7dadf23;hp=8c154807b309ef39600c9185ec9d383739b314b0;hb=0c4732c1e255ea56aa766b772dfdb6be49620830;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8c15480..79f91cd 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -42,23 +42,63 @@
 
 #include "sensor.h"
 #include "../common/i2c_commands.h"
-#include "actuator.h"
 #include "main.h"
+#include "actuator.h"
+
+#define COBROLLER_SPEED 800
+//#define COBROLLER_SPEED 400
+
+#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)
 {
+	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)
 {
+	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)
 {
+	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)