X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmechboard%2Factuator.c;fp=projects%2Fmicrob2010%2Fmechboard%2Factuator.c;h=0000000000000000000000000000000000000000;hp=a36a70c322e53a1d4dff536c0a1c19bf376b96bd;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/mechboard/actuator.c b/projects/microb2010/mechboard/actuator.c
deleted file mode 100644
index a36a70c..0000000
--- a/projects/microb2010/mechboard/actuator.c
+++ /dev/null
@@ -1,163 +0,0 @@
-/*  
- *  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();
-}