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authorNicolas Schodet2011-05-22 18:42:06 +0200
committerNicolas Schodet2011-05-22 19:33:09 +0200
commit447138614e45686cff0bf55a351610c1c108168a (patch)
treeb8a2d1e01787a453414cca5cd34a763ce717c38a /digital/io-hub/src/robospierre/clamp.c
parentf6601c1f928cc28a88bcb8921ca927453d53a1f2 (diff)
digital/io-hub: update clamp positions and pwm values
Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c17
1 files changed, 9 insertions, 8 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 583cadb5..b7c85250 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -130,17 +130,17 @@ struct clamp_t clamp_global;
/** Clamp positions. */
static const uint16_t clamp_pos[][2] = {
{ BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP },
{ BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP },
{ BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP,
- BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP },
{ BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP,
- BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP },
{ BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP,
BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
{ BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP,
@@ -336,7 +336,8 @@ FSM_TRANS (CLAMP_GOING_IDLE, clamp_move_success, CLAMP_IDLE)
FSM_TRANS (CLAMP_IDLE, clamp_new_element, CLAMP_TAKING_DOOR_CLOSING)
{
- pwm_set_timed (clamp_slot_door[ctx.pos_new], BOT_PWM_DOOR_CLOSE);
+ pwm_set_timed (clamp_slot_door[ctx.pos_new],
+ BOT_PWM_DOOR_CLOSE (ctx.pos_new));
return FSM_NEXT (CLAMP_IDLE, clamp_new_element);
}
@@ -524,7 +525,7 @@ FSM_TRANS (CLAMP_MOVE_DST_ROUTING, clamp_elevation_rotation_success,
if (clamp_slot_door[ctx.pos_current] != 0xff)
{
pwm_set_timed (clamp_slot_door[ctx.pos_current],
- BOT_PWM_DOOR_CLOSE);
+ BOT_PWM_DOOR_CLOSE (ctx.pos_current));
return FSM_NEXT (CLAMP_MOVE_DST_ROUTING,
clamp_elevation_rotation_success,
done_close_door);