From 21deab476ce421f04d367959110afbd85656bdde Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 29 May 2011 09:51:30 +0200 Subject: digital/io-hub: softer clamp & door control --- digital/io-hub/src/robospierre/clamp.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) (limited to 'digital/io-hub/src/robospierre/clamp.c') diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index f799e7d7..4c0fc9a7 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -264,7 +264,7 @@ clamp_door (uint8_t pos, uint8_t open) else if (clamp_slot_door[pos] != 0xff) { if (open) - pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_OPEN); + pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_OPEN (pos)); else pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_CLOSE (pos)); } @@ -482,8 +482,8 @@ FSM_TRANS (CLAMP_IDLE, clamp_drop, CLAMP_DROPING_DOOR_OPENING) /* If going forward, drop at back. */ uint8_t bay = ctx.drop_direction == DIRECTION_FORWARD ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM; - pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN); - pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN); + pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN (bay + 0)); + pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN (bay + 2)); return FSM_NEXT (CLAMP_IDLE, clamp_drop); } @@ -599,8 +599,8 @@ FSM_TRANS (CLAMP_LOCKED, clamp_drop, CLAMP_DROPING_DOOR_OPENING) /* If going forward, drop at back. */ uint8_t bay = ctx.drop_direction == DIRECTION_FORWARD ? CLAMP_SLOT_BACK_BOTTOM : CLAMP_SLOT_FRONT_BOTTOM; - pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN); - pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN); + pwm_set_timed (clamp_slot_door[bay + 0], BOT_PWM_DOOR_OPEN (bay + 0)); + pwm_set_timed (clamp_slot_door[bay + 2], BOT_PWM_DOOR_OPEN (bay + 2)); return FSM_NEXT (CLAMP_LOCKED, clamp_drop); } @@ -673,7 +673,8 @@ FSM_TRANS_TIMEOUT (CLAMP_MOVE_SRC_CLAMP_CLOSING, BOT_PWM_CLAMP_CLOSE_TIME, { if (clamp_slot_door[ctx.pos_current] != 0xff) { - pwm_set_timed (clamp_slot_door[ctx.pos_current], BOT_PWM_DOOR_OPEN); + pwm_set_timed (clamp_slot_door[ctx.pos_current], + BOT_PWM_DOOR_OPEN (ctx.pos_current)); return FSM_NEXT_TIMEOUT (CLAMP_MOVE_SRC_CLAMP_CLOSING, open_door); } else -- cgit v1.2.3