From f608c5fe3bd802f24457d6a636ccb0411921537c Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Tue, 19 May 2009 17:59:01 +0200 Subject: * digital/io/src: - use step to make the elevator move, - let the door open until contact. --- digital/io/src/elevator.h | 2 +- digital/io/src/elevator_cb.c | 17 ++++++++++++++--- 2 files changed, 15 insertions(+), 4 deletions(-) (limited to 'digital') diff --git a/digital/io/src/elevator.h b/digital/io/src/elevator.h index 69970e4c..4ac1027c 100644 --- a/digital/io/src/elevator.h +++ b/digital/io/src/elevator.h @@ -49,7 +49,7 @@ extern uint8_t elvt_order; * conversion stop/millimeter */ -#define STEP_BY_MM 72.34 +#define ELEVATOR_MM_TO_STEP 72.34 /** * pwm constant for elevator doors diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c index 0a3ea967..840dc314 100644 --- a/digital/io/src/elevator_cb.c +++ b/digital/io/src/elevator_cb.c @@ -32,9 +32,20 @@ #include "filterbridge.h" /* Positions when waiting a puck*/ -uint16_t posx[4] = {0,25,55,85}; +uint16_t posx[4] = +{ + 0 * ELEVATOR_MM_TO_STEP, + 25 * ELEVATOR_MM_TO_STEP, + 55 * ELEVATOR_MM_TO_STEP, + 85 * ELEVATOR_MM_TO_STEP +}; /* Positions when we go to a target zone */ -uint16_t posy[3] = {125,95,65}; +uint16_t posy[3] = +{ + 125 * ELEVATOR_MM_TO_STEP, + 95 * ELEVATOR_MM_TO_STEP, + 65 * ELEVATOR_MM_TO_STEP +}; /* nb puck on the elevator */ uint8_t nb_puck_elvt = 0; @@ -66,7 +77,7 @@ elevator__IDLE__start (void) fsm_branch_t elevator__WAIT_JACK_IN__jack_inserted_into_bot (void) { - pwm_set(OPEN_DOOR_PWM, TIME_DOORS_PWM); + pwm_set(OPEN_DOOR_PWM, 0); asserv_elevator_zero_position(); return elevator_next (WAIT_JACK_IN, jack_inserted_into_bot); } -- cgit v1.2.3