#include <rdline.h>
#include "main.h"
+#include "robotsim.h"
void pwm_set_and_save(void *pwm, int32_t val)
{
val = 4095;
if (val < -4095)
val = -4095;
-
+
if (pwm == LEFT_PWM)
mainboard.pwm_l = val;
else if (pwm == RIGHT_PWM)
mainboard.pwm_r = val;
+#ifdef HOST_VERSION
+ robotsim_pwm(pwm, val);
+#else
pwm_ng_set(pwm, val);
+#endif
}
void support_balls_deploy(void)
{
- pwm_ng_set(SUPPORT_BALLS_R_SERVO, 510);
- pwm_ng_set(SUPPORT_BALLS_L_SERVO, 240);
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165);
+#endif
}
void support_balls_pack(void)
{
- pwm_ng_set(SUPPORT_BALLS_R_SERVO, 200);
- pwm_ng_set(SUPPORT_BALLS_L_SERVO, 480);
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 290);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 430);
+#endif
}
void actuator_init(void)