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authorNicolas Schodet2011-05-27 07:58:36 +0200
committerNicolas Schodet2011-05-29 09:57:32 +0200
commit9b1ce3a050d9169f3bf77764063de0cff800190e (patch)
tree34a38d7df584147e789e4dde34b916630257e69c /digital/io-hub/src
parentb5d74afb5302b41d0ebc44d0c77db348016154ad (diff)
digital/{ai,io-hub,mimot}, host/simu: change robospierre rotation motor
Diffstat (limited to 'digital/io-hub/src')
-rw-r--r--digital/io-hub/src/robospierre/bot.h18
1 files changed, 9 insertions, 9 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 1071bf7e..65f6adf6 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -67,9 +67,9 @@
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 0
-# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x11c6
-# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x11c6
-# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x11c6
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x233e
# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \
BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP
@@ -96,23 +96,23 @@
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 0
-# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x10ce
-# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP ((0x10ce + 0x10e2) / 2)
-# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x10e2
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x233e
+# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x233e
# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \
BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP
# define BOT_CLAMP_BAY_BACK_ROTATION_STEP \
BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP
-# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x816
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x10de
#define BOT_CLAMP_CLOSED_ROTATION_OFFSET -61
#endif /* !HOST */
#define BOT_CLAMP_ELEVATION_SPEED 0x60
-#define BOT_CLAMP_ROTATION_SPEED 0x30
-#define BOT_CLAMP_ROTATION_OFFSET_SPEED 2
+#define BOT_CLAMP_ROTATION_SPEED 0x60
+#define BOT_CLAMP_ROTATION_OFFSET_SPEED 1
#define BOT_PWM_CLAMP 2
#define BOT_PWM_DOOR_FRONT_BOTTOM 0