-/*
+/*
* 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
#include "main.h"
#include "actuator.h"
-#define COBROLLER_SPEED 800
-//#define COBROLLER_SPEED 400
+#define COBROLLER_SPEED 850
+
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 525
+#define SERVO_DOOR_BLOCK 525
-#define SERVO_DOOR_OPEN 250
-#define SERVO_DOOR_CLOSED 470
+#define SERVO_CARRY_L_OPEN 295
+#define SERVO_CARRY_L_CLOSED 430 //400
+
+#define SERVO_CARRY_R_OPEN 455
+#define SERVO_CARRY_R_CLOSED 320 //350
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)
{
- /* 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)
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)
{
-
+ servo_door_open();
+ servo_carry_open();
}