X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=c6a685b8624d81667a11d60ceadf3655dd72fb07;hp=67598ea2f499df78eee673cafd63bd4e5c274b0e;hb=ecbe3387a90b1ca0e8a8584af631ae2d1f9c61d8;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 67598ea..c6a685b 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
@@ -40,28 +40,78 @@
 
 #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 1000
+
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
+
+#define SERVO_CARRY_L_OPEN 295
+#define SERVO_CARRY_L_CLOSED 430 //400
+
+#define SERVO_CARRY_R_OPEN 455
+#define SERVO_CARRY_R_CLOSED 320 //350
+
+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 actuator_init(void)
+void servo_door_block(void)
 {
+	pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_BLOCK);
+}
 
+void cobroller_on(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = COBROLLER_SPEED;
+	else
+		cobboard.right_cobroller_speed = -COBROLLER_SPEED;
+}
+
+void cobroller_off(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		cobboard.left_cobroller_speed = 0;
+	else
+		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)
+{
+	servo_door_open();
+	servo_carry_open();
 }