From fd8ce8373abf81f5d6781b577a0f50906f2f4ff8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 27 May 2011 08:15:52 +0200 Subject: digital/io-hub: add offset to back bay too --- digital/io-hub/src/robospierre/bot.h | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) (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 6079b9d8..02b74da9 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -78,7 +78,8 @@ # define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \ (BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2) -#define BOT_CLAMP_CLOSED_ROTATION_OFFSET 0 +#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET 0 +#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET 0 #else /* !HOST */ @@ -106,10 +107,17 @@ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP # define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x10de -#define BOT_CLAMP_CLOSED_ROTATION_OFFSET -61 +#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET -129 +#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET -60 #endif /* !HOST */ +#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_ELEVATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_OFFSET_SPEED 1 -- cgit v1.2.3