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authorJulien Balleyguier2012-05-18 04:33:29 +0200
committerNicolas Schodet2012-05-18 05:47:46 +0200
commite75b6944b4bb1085686814a25ae5cd045c45677f (patch)
tree7b5700cafc2110dc4d22154e9e7bc65255af544c /digital/io-hub/src/guybrush/bottom_clamp.c
parent24746e5d60119e15b73d2c1d13e9f5b28665901c (diff)
digital/io-hub/src/guybrush: new init position of the bottom clamp
Diffstat (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c7
1 files changed, 4 insertions, 3 deletions
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);