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authorJérémy Dufour2009-05-21 08:17:08 +0200
committerJérémy Dufour2009-05-21 08:17:08 +0200
commit2a9600f0ff45c000e97708b764800bf796769b30 (patch)
treea4b17dcf297c9699e37c0b96bf487e71f2c10440 /digital/io/src/top.c
parentf23c6e030be801244ca52c5af01c140441c8dd0e (diff)
* digital/io/src:
- fix angle value for distributor and unload area.
Diffstat (limited to 'digital/io/src/top.c')
-rw-r--r--digital/io/src/top.c9
1 files changed, 5 insertions, 4 deletions
diff --git a/digital/io/src/top.c b/digital/io/src/top.c
index afc77185..dd4d12b4 100644
--- a/digital/io/src/top.c
+++ b/digital/io/src/top.c
@@ -78,15 +78,16 @@ top_get_next_position_to_get_distributor (asserv_position_t *clean_position,
{
/* Number of distributor. */
#define DISTRIBUTOR_COUNT 3
+#define DISTRIBUTOR_PROTECTION 360
/* Table of distributor, first index is clean, second is front. */
static const asserv_position_t distributor[DISTRIBUTOR_COUNT][2] =
{
/* First distributor. */
- { { 2711, 270, 270 }, { 2711, 200, 270 } },
+ { { 2711, 0 + DISTRIBUTOR_PROTECTION, 270 }, { 2711, 200, 270 } },
/* Second distributor. */
- { { 2730, 600, 180 }, { 2730, 800, 0 } },
+ { { PG_WIDTH - DISTRIBUTOR_PROTECTION, 600, 90 }, { PG_WIDTH - DISTRIBUTOR_PROTECTION, 800, 0 } },
/* Third distributor. */
- { { 2730, 1100, 180 }, { 2730, 1300, 0 } },
+ { { PG_WIDTH - DISTRIBUTOR_PROTECTION, 1100, 90 }, { PG_WIDTH - DISTRIBUTOR_PROTECTION, 1300, 0 } },
};
/* Maximum number of remaining puck by distributor. */
static uint8_t distributor_puck_count[DISTRIBUTOR_COUNT] = { 5, 5, 5 };
@@ -141,7 +142,7 @@ top_get_next_position_to_unload_puck (asserv_position_t *position)
/* TODO: enahnce. */
static const asserv_position_t unload[] =
{
- { 1500, 600, 90 },
+ { 1500, 600, 270 },
};
/* Sanity check. */
if (position)