#define ROLLER_REVERSE ROLLER_SPEED
#define FORKROT_DEPLOYED -55000
-#define FORKROT_MID -33000
+#define FORKROT_MID1 -31000
+#define FORKROT_MID2 -27000
+#define FORKROT_EJECT -12000
#define FORKROT_PACKED -4000
void roller_on(void)
cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
}
-void fork_mid(void)
+void fork_mid1(void)
{
- cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID);
+ cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID1);
+}
+
+void fork_mid2(void)
+{
+ cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID2);
+}
+
+void fork_eject(void)
+{
+ cs_set_consign(&ballboard.forkrot.cs, FORKROT_EJECT);
+}
+
+static uint8_t fork_is_at_pos(int32_t pos)
+{
+ int32_t diff;
+ diff = pos - encoders_spi_get_value(FORKROT_ENCODER);
+ if (diff < 0)
+ diff = -diff;
+ if (diff < 500)
+ return 1;
+ return 0;
+}
+
+uint8_t fork_is_packed(void)
+{
+ return fork_is_at_pos(FORKROT_PACKED);
}
void actuator_init(void)