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fix display and support beacon in robotsim
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
actuator.c
diff --git
a/projects/microb2010/cobboard/actuator.c
b/projects/microb2010/cobboard/actuator.c
index
6811854
..
bf97946
100644
(file)
--- a/
projects/microb2010/cobboard/actuator.c
+++ b/
projects/microb2010/cobboard/actuator.c
@@
-45,18
+45,17
@@
#include "main.h"
#include "actuator.h"
#include "main.h"
#include "actuator.h"
-#define COBROLLER_SPEED 800
-//#define COBROLLER_SPEED 400
+#define COBROLLER_SPEED 1000
-#define SERVO_DOOR_OPEN
26
0
-#define SERVO_DOOR_CLOSED 5
10
-#define SERVO_DOOR_BLOCK 5
10
+#define SERVO_DOOR_OPEN
30
0
+#define SERVO_DOOR_CLOSED 5
25
+#define SERVO_DOOR_BLOCK 5
25
#define SERVO_CARRY_L_OPEN 295
#define SERVO_CARRY_L_OPEN 295
-#define SERVO_CARRY_L_CLOSED 4
00 // 51
0
+#define SERVO_CARRY_L_CLOSED 4
30 //40
0
#define SERVO_CARRY_R_OPEN 455
#define SERVO_CARRY_R_OPEN 455
-#define SERVO_CARRY_R_CLOSED 3
50 // 2
50
+#define SERVO_CARRY_R_CLOSED 3
20 //3
50
void actuator_init(void);
void actuator_init(void);
@@
-103,7
+102,16
@@
void cobroller_off(uint8_t side)
cobboard.right_cobroller_speed = 0;
}
cobboard.right_cobroller_speed = 0;
}
-void
actuator_init(void
)
+void
cobroller_reverse(uint8_t side
)
{
{
+ 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();
}
}