#include "main.h"
#include "actuator.h"
-#define COBROLLER_SPEED 800
-//#define COBROLLER_SPEED 400
+#define COBROLLER_SPEED 850
-#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 510
-#define SERVO_DOOR_BLOCK 510
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 525
+#define SERVO_DOOR_BLOCK 525
#define SERVO_CARRY_L_OPEN 295
-#define SERVO_CARRY_L_CLOSED 400 // 510
+#define SERVO_CARRY_L_CLOSED 430 //400
#define SERVO_CARRY_R_OPEN 455
-#define SERVO_CARRY_R_CLOSED 350 // 250
+#define SERVO_CARRY_R_CLOSED 320 //350
void actuator_init(void);
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();
}