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/main.c | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'digital/io-hub/src/robospierre/main.c') diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c index 7c773761..f6ef1013 100644 --- a/digital/io-hub/src/robospierre/main.c +++ b/digital/io-hub/src/robospierre/main.c @@ -288,10 +288,14 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; case c ('d', 0): /* Open all doors. */ - pwm_set_timed (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_OPEN); - pwm_set_timed (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_OPEN); - pwm_set_timed (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_OPEN); - pwm_set_timed (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_OPEN); + pwm_set_timed (BOT_PWM_DOOR_FRONT_BOTTOM, + BOT_PWM_DOOR_OPEN (CLAMP_SLOT_FRONT_BOTTOM)); + pwm_set_timed (BOT_PWM_DOOR_FRONT_TOP, + BOT_PWM_DOOR_OPEN (CLAMP_SLOT_FRONT_TOP)); + pwm_set_timed (BOT_PWM_DOOR_BACK_BOTTOM, + BOT_PWM_DOOR_OPEN (CLAMP_SLOT_BACK_BOTTOM)); + pwm_set_timed (BOT_PWM_DOOR_BACK_TOP, + BOT_PWM_DOOR_OPEN (CLAMP_SLOT_BACK_TOP)); break; case c ('d', 1): /* Drop elements. -- cgit v1.2.3