From 4882fbefaeca9cc5292cec9a2f93d34f04e67b5c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 28 May 2011 00:31:13 +0200 Subject: digital/io-hub: add clamp initialisation --- digital/io-hub/src/robospierre/bot.h | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'digital/io-hub/src/robospierre/bot.h') diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h index 02b74da9..7a8065dd 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -63,6 +63,8 @@ # define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000) # define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000) # define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP (0x3b0b / 2) +# define BOT_CLAMP_INIT_FRONT_SEEN_ELEVATION_STEP 0x18ca +# define BOT_CLAMP_INIT_BACK_SEEN_ELEVATION_STEP 0x18ca # define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0 # define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0 @@ -93,6 +95,9 @@ # define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1da7 # define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1f03 # define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP ((0x1da7 + 0x1f03) / 2) +// TODO: to be measured. +# define BOT_CLAMP_INIT_FRONT_SEEN_ELEVATION_STEP (0x1da7 / 2) +# define BOT_CLAMP_INIT_BACK_SEEN_ELEVATION_STEP (0x1f03 / 2) # define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0 # define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0 @@ -112,12 +117,17 @@ #endif /* !HOST */ +#define BOT_CLAMP_INIT_ELEVATION_STEP \ + BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP + #define BOT_CLAMP_CLOSED_ROTATION_OFFSET(pos) \ (CLAMP_IS_SLOT_IN_FRONT_BAY (pos) \ ? BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET \ : (CLAMP_IS_SLOT_IN_BACK_BAY (pos) \ ? BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET : 0)) +#define BOT_CLAMP_INIT_ELEVATION_SPEED 0x08 +#define BOT_CLAMP_INIT_ROTATION_SPEED -0x04 #define BOT_CLAMP_ELEVATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_OFFSET_SPEED 1 @@ -140,4 +150,8 @@ -0x3ff, 50, ((slot == CLAMP_SLOT_FRONT_BOTTOM \ || slot == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x180) +#define BOT_PWM_CLAMP_INIT 0x1ff, 125, 0 +#define BOT_PWM_DOOR_INIT 0x1ff, 74, 0x55 +#define BOT_PWM_CLAMP_DOOR_INIT 125 + #endif /* bot_h */ -- cgit v1.2.3