From 4d89714a05aeb17126d206e6003bf922a37966ab Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 22 May 2011 22:03:17 +0200 Subject: digital/io-hub: add door/clamp command --- digital/io-hub/src/robospierre/clamp.c | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) (limited to 'digital/io-hub/src/robospierre/clamp.c') 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) { -- cgit v1.2.3