#include "sensor.h"
#include "../common/i2c_commands.h"
-#include "actuator.h"
#include "main.h"
+#include "actuator.h"
+
+#define COBROLLER_SPEED 800
+
+#define SERVO_DOOR_PWM ((void *)&gen.servo2)
+#define SERVO_DOOR_OPEN 250
+#define SERVO_DOOR_CLOSED 470
+
+void actuator_init(void);
void servo_carry_open(void)
{
+ /* TODO */
}
void servo_carry_close(void)
{
+ /* TODO */
}
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 left_cobroller_on(void)
+{
+ cobboard.left_cobroller_speed = COBROLLER_SPEED;
+}
+
+void right_cobroller_on(void)
+{
+ cobboard.right_cobroller_speed = COBROLLER_SPEED;
+}
+
+void left_cobroller_off(void)
+{
+ cobboard.left_cobroller_speed = 0;
+}
+
+void right_cobroller_off(void)
+{
+ cobboard.right_cobroller_speed = 0;
}
void actuator_init(void)