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authorJérémy Dufour2009-05-19 17:59:01 +0200
committerJérémy Dufour2009-05-19 17:59:01 +0200
commitf608c5fe3bd802f24457d6a636ccb0411921537c (patch)
tree601cea28810b09051460ebb68738f169814b9d59
parentaf118146e02a46f8e3817774e08285b26e61c90b (diff)
* digital/io/src:
- use step to make the elevator move, - let the door open until contact.
-rw-r--r--digital/io/src/elevator.h2
-rw-r--r--digital/io/src/elevator_cb.c17
2 files changed, 15 insertions, 4 deletions
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);
}