From 3fa20141eb2d87df11ded1f05ff7ddf17882c86b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 14 May 2011 12:48:49 +0200 Subject: digital/io-hub: add hardware offset when turning clamp --- digital/io-hub/src/robospierre/clamp.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (limited to 'digital/io-hub/src/robospierre/clamp.h') diff --git a/digital/io-hub/src/robospierre/clamp.h b/digital/io-hub/src/robospierre/clamp.h index 8c5f5c4c..bb15b62e 100644 --- a/digital/io-hub/src/robospierre/clamp.h +++ b/digital/io-hub/src/robospierre/clamp.h @@ -36,9 +36,15 @@ enum { CLAMP_SLOT_SIDE, /** Leave the front bay, ready to enter side tunnel. */ CLAMP_BAY_FRONT_LEAVE, + /** Leaving the front bay, entered the side tunnel. When at midway point, + * go directly to the next position. */ + CLAMP_BAY_FRONT_LEAVING, /** Leave the back bay, ready to enter side tunnel. */ CLAMP_BAY_BACK_LEAVE, - /* Enter the side bay. Position on the side, above wheels. */ + /** Leaving the back bay, entered the side tunnel. When at midway point, + * go directly to the next position. */ + CLAMP_BAY_BACK_LEAVING, + /** Enter the side bay. Position on the side, above wheels. */ CLAMP_BAY_SIDE_ENTER_LEAVE, /** Total number of position, including intermediary positions. */ CLAMP_POS_NB, -- cgit v1.2.3