+++ /dev/null
-/*
- * 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
- * (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 <time.h>
-
-#include <pid.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <blocking_detection_manager.h>
-
-#include <rdline.h>
-
-#include "../common/i2c_commands.h"
-#include "actuator.h"
-#include "ax12_user.h"
-#include "main.h"
-
-#define FINGER_DEBUG(args...) DEBUG(E_USER_FINGER, args)
-#define FINGER_NOTICE(args...) NOTICE(E_USER_FINGER, args)
-#define FINGER_ERROR(args...) ERROR(E_USER_FINGER, args)
-
-struct finger {
- int8_t event;
- uint16_t destination;
-};
-
-struct finger finger;
-
-static void finger_goto_cb(void *);
-
-/* schedule a single event for the finger */
-static void finger_schedule_event(struct finger *finger)
-{
- uint8_t flags;
- int8_t ret;
-
- IRQ_LOCK(flags);
- ret = scheduler_add_event(SCHEDULER_SINGLE,
- (void *)finger_goto_cb,
- finger, 1, ARM_PRIO);
- if (ret == -1) {
- IRQ_UNLOCK(flags);
- FINGER_ERROR("Cannot load finger event");
- return;
- }
- finger->event = ret;
- IRQ_UNLOCK(flags);
-}
-
-static void finger_goto_cb(void *data)
-{
- uint8_t flags;
- struct finger *finger = data;
- uint16_t position;
-
- IRQ_LOCK(flags);
- finger->event = -1;
- position = finger->destination;
- IRQ_UNLOCK(flags);
- FINGER_DEBUG("goto_cb %d", position);
- ax12_user_write_int(&gen.ax12, FINGER_AX12,
- AA_GOAL_POSITION_L, position);
-}
-
-/* load an event that will move the ax12 for us */
-void finger_goto(uint16_t position)
-{
- uint8_t flags;
- FINGER_NOTICE("goto %d", position);
-
- IRQ_LOCK(flags);
- finger.destination = position;
- if (finger.event != -1) {
- IRQ_UNLOCK(flags);
- return; /* nothing to do, event already scheduled */
- }
- IRQ_UNLOCK(flags);
- finger_schedule_event(&finger);
-}
-
-static void finger_init(void)
-{
- finger.event = -1;
- finger.destination = 0;
- /* XXX set pos ? */
-}
-
-uint16_t finger_get_goal_pos(void)
-{
- return finger.destination;
-}
-
-uint8_t finger_get_side(void)
-{
- if (finger.destination <= FINGER_CENTER)
- return I2C_LEFT_SIDE;
- return I2C_RIGHT_SIDE;
-}
-
-/**********/
-
-#define SERVO_LEFT_OUT 400
-#define SERVO_LEFT_1LIN 520
-#define SERVO_LEFT_2LIN 485
-#define SERVO_RIGHT_OUT 290
-#define SERVO_RIGHT_1LIN 155
-#define SERVO_RIGHT_2LIN 180
-
-void servo_lintel_out(void)
-{
- mechboard.servo_lintel_left = SERVO_LEFT_OUT;
- mechboard.servo_lintel_right = SERVO_RIGHT_OUT;
-}
-
-void servo_lintel_1lin(void)
-{
- mechboard.servo_lintel_left = SERVO_LEFT_1LIN;
- mechboard.servo_lintel_right = SERVO_RIGHT_1LIN;
-}
-
-void servo_lintel_2lin(void)
-{
- mechboard.servo_lintel_left = SERVO_LEFT_2LIN;
- mechboard.servo_lintel_right = SERVO_RIGHT_2LIN;
-}
-
-/**********/
-
-void actuator_init(void)
-{
- finger_init();
- servo_lintel_out();
-}