From e75b6944b4bb1085686814a25ae5cd045c45677f Mon Sep 17 00:00:00 2001 From: Julien Balleyguier Date: Fri, 18 May 2012 04:33:29 +0200 Subject: digital/io-hub/src/guybrush: new init position of the bottom clamp --- digital/io-hub/src/guybrush/bottom_clamp.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 876f704f..284d1947 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -197,12 +197,13 @@ FSM_START_WITH (CLAMP_START) POSITION DEFINITION ---------------------------------------*/ #define RECALE_COIN 1000 -#define CLAMP_1_DOWN 0 -#define CLAMP_1_UP 2000 +#define CLAMP_1_DOWN 3863 +#define CLAMP_1_UP 1863 #define POS_TO_DROP 800 #define HIDE_POS_TREE 550 #define DECALAGE_CD_BAS 200 #define LET_UPPER_SET_UP 500 +#define DECALAGE_INIT 1662 /*------------------------------------- Clamp context ---------------------------------------*/ @@ -354,7 +355,7 @@ FSM_TRANS_TIMEOUT (CLAMP_INIT_CLOSE_ALL_CLAMPS, 5*TIMEOUT_OPEN_CLAMPS, CLAMP_INI FSM_TRANS (CLAMP_INIT_FIND_0, 0_found, CLAMP_INIT_HIDE_CLAMP) { /*init of the position*/ - ctx.init_pos = mimot_get_motor0_position() + 6.65 * 250; + ctx.init_pos = mimot_get_motor0_position() + DECALAGE_INIT; ctx.current_pos = 0; /* Robot is ready with clamp 1 at the bottom. */ move_needed2(CLAMP_1_DOWN,FAST_ROTATION,1); -- cgit v1.2.3