2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: actuator.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
30 #include <encoders_spi.h>
33 #include <scheduler.h>
34 #include <clock_time.h>
38 #include <control_system_manager.h>
39 #include <trajectory_manager.h>
40 #include <vect_base.h>
43 #include <obstacle_avoidance.h>
44 #include <blocking_detection_manager.h>
45 #include <robot_system.h>
46 #include <position_manager.h>
53 void pwm_set_and_save(void *pwm, int32_t val)
55 /* we need to do the saturation here, before saving the
63 mainboard.pwm_l = val;
64 else if (pwm == RIGHT_PWM)
65 mainboard.pwm_r = val;
67 robotsim_pwm(pwm, val);
73 void support_balls_deploy(void)
76 pwm_ng_set(SUPPORT_BALLS_R_SERVO, 560);
77 pwm_ng_set(SUPPORT_BALLS_L_SERVO, 155);
81 void support_balls_pack(void)
84 pwm_ng_set(SUPPORT_BALLS_R_SERVO, 290);
85 pwm_ng_set(SUPPORT_BALLS_L_SERVO, 430);
89 void actuator_init(void)