X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=8dfe8bb44cea1ed0de020a00e85b381eaf3558bc;hp=6811854a3e97a2c9cea034b6e58c191db7133335;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 6811854..8dfe8bb 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -49,8 +49,8 @@
 //#define COBROLLER_SPEED 400
 
 #define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 510
-#define SERVO_DOOR_BLOCK 510
+#define SERVO_DOOR_CLOSED 500
+#define SERVO_DOOR_BLOCK 500
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510
@@ -103,6 +103,14 @@ void cobroller_off(uint8_t side)
 		cobboard.right_cobroller_speed = 0;
 }
 
+void cobroller_reverse(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = -COBROLLER_SPEED;
+	else
+		cobboard.right_cobroller_speed = COBROLLER_SPEED;
+}
+
 void actuator_init(void)
 {