From 9b8e88e56e6d22bc182cc0df605c69aa6b10d9e9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 12:05:36 +0200 Subject: digital/io-hub: change clamp parameters after init --- digital/io-hub/src/robospierre/bot.h | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) (limited to 'digital') 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 -- cgit v1.2.3