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-rw-r--r--digital/io-hub/src/robospierre/bot.h17
1 files changed, 8 insertions, 9 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 21e936cb..8e32a317 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -117,21 +117,20 @@
# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1da7
# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1f03
# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP ((0x1da7 + 0x1f03) / 2)
-#define BOT_CLAMP_INIT_ELEVATION_SWITCH_STEP \
- BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP // TODO: measure on robot
+#define BOT_CLAMP_INIT_ELEVATION_SWITCH_STEP 0x363f
-# 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 0x23d7
-# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x23d7
-# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x23d7
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 92
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x2433
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x2433
+# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x2433
# 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 (0x1127 + 120)
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x1183 + 120)
#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET -129
#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET -60