X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=8a15ca941e3f46293d671801a2123589d4813917;hp=79f91cd8cd091b304a2f315298afbc05d7dadf23;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=0c4732c1e255ea56aa766b772dfdb6be49620830

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 79f91cd..8a15ca9 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -45,17 +45,19 @@
 #include "main.h"
 #include "actuator.h"
 
-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 1200
+//#define COBROLLER_SPEED 600
 //#define COBROLLER_SPEED 400
 
-#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 490
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
 
-#define SERVO_CARRY_L_OPEN 280
-#define SERVO_CARRY_L_CLOSED 510
+#define SERVO_CARRY_L_OPEN 295
+#define SERVO_CARRY_L_CLOSED 440//400 // 510
 
-#define SERVO_CARRY_R_OPEN 470
-#define SERVO_CARRY_R_CLOSED 250
+#define SERVO_CARRY_R_OPEN 455
+#define SERVO_CARRY_R_CLOSED 310//350 // 250
 
 void actuator_init(void);
 
@@ -81,27 +83,37 @@ void servo_door_close(void)
 	pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
 }
 
-void left_cobroller_on(void)
+void servo_door_block(void)
 {
-	cobboard.left_cobroller_speed = COBROLLER_SPEED;
+	pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_BLOCK);
 }
 
-void right_cobroller_on(void)
+void cobroller_on(uint8_t side)
 {
-	cobboard.right_cobroller_speed = COBROLLER_SPEED;
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = COBROLLER_SPEED;
+	else
+		cobboard.right_cobroller_speed = -COBROLLER_SPEED;
 }
 
-void left_cobroller_off(void)
+void cobroller_off(uint8_t side)
 {
-	cobboard.left_cobroller_speed = 0;
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = 0;
+	else
+		cobboard.right_cobroller_speed = 0;
 }
 
-void right_cobroller_off(void)
+void cobroller_reverse(uint8_t side)
 {
-	cobboard.right_cobroller_speed = 0;
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = -COBROLLER_SPEED;
+	else
+		cobboard.right_cobroller_speed = COBROLLER_SPEED;
 }
 
 void actuator_init(void)
 {
-
+	servo_door_open();
+	servo_carry_open();
 }