#define ROLLER_OFF 0
#define ROLLER_REVERSE ROLLER_SPEED
-#define FORKROT_DEPLOYED -50000
+#define FORKROT_DEPLOYED -55000
+#define FORKROT_MID -33000
#define FORKROT_PACKED 0
-#define FORKTRANS_LEFT 0
-#define FORKTRANS_MIDDLE 500
-#define FORKTRANS_RIGHT 1000
-
void roller_on(void)
{
cs_set_consign(&ballboard.roller.cs, ROLLER_ON);
cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
}
-void fork_left(void)
-{
- cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_LEFT);
-}
-
-void fork_right(void)
+void fork_mid(void)
{
- cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT);
+ cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID);
}
-void fork_middle(void)
+void actuator_init(void)
{
- cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE);
+ printf_P(PSTR("fork autopos..."));
+ pwm_ng_set(FORKROT_PWM, 400);
+ wait_ms(1000);
+ pwm_ng_set(FORKROT_PWM, 0);
+ encoders_spi_set_value(FORKROT_ENCODER, 0);
+ printf_P(PSTR("ok\r\n"));
+ ballboard.forkrot.on = 1;
}