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authorNicolas Schodet2011-05-22 22:03:17 +0200
committerNicolas Schodet2011-05-22 22:03:17 +0200
commit4d89714a05aeb17126d206e6003bf922a37966ab (patch)
treeb495e55c6ab80cbe577d5a02d45b08a74b569509 /digital/io-hub/src/robospierre/clamp.c
parent976a1f968ddf6b1c635813aeadc76d4536fbe18f (diff)
digital/io-hub: add door/clamp command
Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c19
1 files changed, 19 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 0172d891..b32549d2 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -221,6 +221,25 @@ clamp_drop_clear (void)
FSM_HANDLE (AI, clamp_drop_clear);
}
+void
+clamp_door (uint8_t pos, uint8_t open)
+{
+ if (pos == 0xff)
+ {
+ if (open)
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_OPEN);
+ else
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_CLOSE);
+ }
+ else if (clamp_slot_door[pos] != 0xff)
+ {
+ if (open)
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_OPEN);
+ else
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_CLOSE (pos));
+ }
+}
+
uint8_t
clamp_handle_event (void)
{