X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Factuator.c;h=c6a685b8624d81667a11d60ceadf3655dd72fb07;hp=cebcd2aaf05d1b0fed3e22f97c4d3f66c99501ba;hb=ecbe3387a90b1ca0e8a8584af631ae2d1f9c61d8;hpb=9a55e14e6ec1c05dfc3a6a7a9bc1b9c879207cad

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index cebcd2a..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
@@ -45,22 +45,30 @@
 #include "main.h"
 #include "actuator.h"
 
-#define COBROLLER_SPEED 800
-//#define COBROLLER_SPEED 400
+#define COBROLLER_SPEED 1000
+
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
 
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#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)
 {
-	/* 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)
@@ -73,27 +81,37 @@ 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();
 }