cobboard: prepare state machine

[aversive.git] / projects / microb2010 / cobboard / shovel.c

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
new file mode 100644 (file)
index 0000000..39ce2bc
--- /dev/null
+++ b/projects/microb2010/cobboard/shovel.c
@@ -0,0 +1,57 @@
+/*  
+ *  Copyright Droids Corporation (2010)
+ * 
+ *  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
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+#include <rdline.h>
+
+#include "main.h"
+
+/* init spickle position at beginning */
+static void shovel_autopos(void)
+{
+       pwm_ng_set(SHOVEL_PWM, -500);
+       wait_ms(1000);
+       pwm_ng_set(LEFT_SPICKLE_PWM, 0);
+       encoders_spi_set_value(SHOVEL_ENCODER, 0);
+}
+
+void shovel_init(void)
+{
+       shovel_autopos();
+       cobboard.shovel.on = 1;
+}