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authorNicolas Schodet2011-05-08 13:02:53 +0200
committerNicolas Schodet2011-05-08 15:59:47 +0200
commitd385a9eacb2e8580239f101f96356f7ed216dd97 (patch)
treedd2396453b98f774302c05ff738d3c5be5fddc96 /digital/io-hub/src/robospierre/bot.h
parent3eaac809b39d20731b7325618676fe678cf23b6c (diff)
digital/io-hub: add clamp moving
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h39
1 files changed, 39 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index fa65ca07..9043a62c 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -34,4 +34,43 @@
# define BOT_SCALE 0.0415178942124
#endif
+#ifdef HOST
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x11c6
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x11c6 / 2)
+
+#else /* !HOST */
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP 0x1d83
+
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x10e2
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x820
+
+#endif /* !HOST */
+
+#define BOT_CLAMP_ELEVATION_SPEED 0x60
+#define BOT_CLAMP_ROTATION_SPEED 0x30
+
#endif /* bot_h */