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optim cobboard
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
actuator.c
diff --git
a/projects/microb2010/cobboard/actuator.c
b/projects/microb2010/cobboard/actuator.c
index
3217270
..
8d2355d
100644
(file)
--- a/
projects/microb2010/cobboard/actuator.c
+++ b/
projects/microb2010/cobboard/actuator.c
@@
-1,6
+1,6
@@
-/*
+/*
* Copyright Droids Corporation (2009)
* 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
* 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
+45,31
@@
#include "main.h"
#include "actuator.h"
#include "main.h"
#include "actuator.h"
-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 600
+//#define COBROLLER_SPEED 400
+
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
-#define SERVO_DOOR_PWM ((void *)&gen.servo2)
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#define SERVO_CARRY_L_OPEN 295
+#define SERVO_CARRY_L_CLOSED 400 // 510
+
+#define SERVO_CARRY_R_OPEN 455
+#define SERVO_CARRY_R_CLOSED 350 // 250
void actuator_init(void);
void servo_carry_open(void)
{
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)
{
}
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)
}
void servo_door_open(void)
@@
-73,27
+82,37
@@
void servo_door_close(void)
pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
}
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)
{
}
void actuator_init(void)
{
-
+ servo_door_open();
+ servo_carry_open();
}
}