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authorJérémy Dufour2008-04-14 12:04:01 +0200
committerJérémy Dufour2008-04-14 12:04:01 +0200
commit011fd3e4e4d252d02df156a7679c6156cdc72c6a (patch)
treed766f5ca92fc3ed04d54e8b0a9d307864dcf912f /digital/io/src/giboulee.h
parent72a35dab91098de10cbabf72f2f8cdf45186a2ea (diff)
* digital/io/src
* asserv - add an goto_angle (not implemented yet). * get sample FSM - the get sample FSM will not call any other FSM (like the move). Instead, it assumes we are already at the right place, we just ensure the angle is correct ; - update the first state in consequences ; - add an angle as parameters (maybe we can remove the X/Y). * general defines - add define to ease the opening of the input hole.
Diffstat (limited to 'digital/io/src/giboulee.h')
-rw-r--r--digital/io/src/giboulee.h7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io/src/giboulee.h b/digital/io/src/giboulee.h
index 45744f99..bda60c8f 100644
--- a/digital/io/src/giboulee.h
+++ b/digital/io/src/giboulee.h
@@ -48,6 +48,13 @@
#define BOT_ARM_THIRD_ROUND BOT_ARM_STEP_ROUND / 3
/**
+ * The number of steps to do to open the input hole when the arm is closing
+ * it.
+ * For the moment, 15% of a complete turn
+ */
+#define BOT_ARM_MIN_TO_OPEN (BOT_ARM_STEP_ROUND / 100 * 15)
+
+/**
* How to compute a angle for giboulee?
* One degree is 65536 / 360
*/