X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Factuator.c;h=9ed1d6336ae13e82962f2c0090f40777e5894145;hp=19d2fc75f9fc69afd226421c44c70ed55dcf8a3a;hb=HEAD;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/actuator.c b/projects/microb2010/mainboard/actuator.c
index 19d2fc7..9ed1d63 100644
--- a/projects/microb2010/mainboard/actuator.c
+++ b/projects/microb2010/mainboard/actuator.c
@@ -31,7 +31,7 @@
 #include <pwm_ng.h>
 #include <timer.h>
 #include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -48,6 +48,7 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "robotsim.h"
 
 void pwm_set_and_save(void *pwm, int32_t val)
 {
@@ -57,21 +58,35 @@ void pwm_set_and_save(void *pwm, int32_t val)
 		val = 4095;
 	if (val < -4095)
 		val = -4095;
-	
+
 	if (pwm == LEFT_PWM)
 		mainboard.pwm_l = val;
 	else if (pwm == RIGHT_PWM)
 		mainboard.pwm_r = val;
+#ifdef HOST_VERSION
+	robotsim_pwm(pwm, val);
+#else
 	pwm_ng_set(pwm, val);
+#endif
 }
 
-void pickup_wheels_on(void)
+void support_balls_deploy(void)
 {
-	mainboard.enable_pickup_wheels = 1;
+#ifndef HOST_VERSION
+	pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550);
+	pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165);
+#endif
 }
 
-void pickup_wheels_off(void)
+void support_balls_pack(void)
 {
-	mainboard.enable_pickup_wheels = 0;
+#ifndef HOST_VERSION
+	pwm_ng_set(SUPPORT_BALLS_R_SERVO, 290);
+	pwm_ng_set(SUPPORT_BALLS_L_SERVO, 430);
+#endif
 }
 
+void actuator_init(void)
+{
+
+}