From 2a9600f0ff45c000e97708b764800bf796769b30 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 21 May 2009 08:17:08 +0200 Subject: * digital/io/src: - fix angle value for distributor and unload area. --- digital/io/src/top.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/top.c b/digital/io/src/top.c index afc77185..dd4d12b4 100644 --- a/digital/io/src/top.c +++ b/digital/io/src/top.c @@ -78,15 +78,16 @@ top_get_next_position_to_get_distributor (asserv_position_t *clean_position, { /* Number of distributor. */ #define DISTRIBUTOR_COUNT 3 +#define DISTRIBUTOR_PROTECTION 360 /* Table of distributor, first index is clean, second is front. */ static const asserv_position_t distributor[DISTRIBUTOR_COUNT][2] = { /* First distributor. */ - { { 2711, 270, 270 }, { 2711, 200, 270 } }, + { { 2711, 0 + DISTRIBUTOR_PROTECTION, 270 }, { 2711, 200, 270 } }, /* Second distributor. */ - { { 2730, 600, 180 }, { 2730, 800, 0 } }, + { { PG_WIDTH - DISTRIBUTOR_PROTECTION, 600, 90 }, { PG_WIDTH - DISTRIBUTOR_PROTECTION, 800, 0 } }, /* Third distributor. */ - { { 2730, 1100, 180 }, { 2730, 1300, 0 } }, + { { PG_WIDTH - DISTRIBUTOR_PROTECTION, 1100, 90 }, { PG_WIDTH - DISTRIBUTOR_PROTECTION, 1300, 0 } }, }; /* Maximum number of remaining puck by distributor. */ static uint8_t distributor_puck_count[DISTRIBUTOR_COUNT] = { 5, 5, 5 }; @@ -141,7 +142,7 @@ top_get_next_position_to_unload_puck (asserv_position_t *position) /* TODO: enahnce. */ static const asserv_position_t unload[] = { - { 1500, 600, 90 }, + { 1500, 600, 270 }, }; /* Sanity check. */ if (position) -- cgit v1.2.3