#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <pid.h>
#include <quadramp.h>
#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 pickup_wheels_on(void)
+void support_balls_deploy(void)
{
- mainboard.enable_pickup_wheels = 1;
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 560);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 155);
+#endif
}
-void pickup_wheels_off(void)
+void support_balls_pack(void)
{
- mainboard.enable_pickup_wheels = 0;
+#ifndef HOST_VERSION
+ pwm_ng_set(SUPPORT_BALLS_R_SERVO, 290);
+ pwm_ng_set(SUPPORT_BALLS_L_SERVO, 430);
+#endif
}
+void actuator_init(void)
+{
+
+}