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authorNicolas Schodet2011-05-29 09:51:30 +0200
committerNicolas Schodet2011-05-29 09:57:32 +0200
commit21deab476ce421f04d367959110afbd85656bdde (patch)
treed3812e1da8269dc676a01ccc1ae6781ed649553c /digital/io-hub/src/robospierre/main.c
parent4042e67d5aed51502538b96c959d88fd3cc1779a (diff)
digital/io-hub: softer clamp & door control
Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c12
1 files changed, 8 insertions, 4 deletions
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.