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authorNicolas Schodet2011-05-12 23:42:26 +0200
committerNicolas Schodet2011-05-13 01:50:51 +0200
commita3fdbecac564a600c65568cac0e02fc72604567e (patch)
tree07dc894a2b64434b300a0fcffb3486e831a68f1b /digital/io-hub/src/robospierre/bot.h
parentf58d19eb2d786cb5446d511acd6839a03d791a44 (diff)
digital/{ai,io-hub}, host/simu/robots/robospierre: add doors and element move
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h16
1 files changed, 16 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 9043a62c..5e795b0f 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -73,4 +73,20 @@
#define BOT_CLAMP_ELEVATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_SPEED 0x30
+#define BOT_PWM_CLAMP 2
+#define BOT_PWM_DOOR_FRONT_BOTTOM 0
+#define BOT_PWM_DOOR_FRONT_TOP 1
+#define BOT_PWM_DOOR_BACK_BOTTOM 3
+#define BOT_PWM_DOOR_BACK_TOP 4
+
+#define BOT_PWM_CLAMP_OPEN_TIME 225
+#define BOT_PWM_CLAMP_OPEN 0x3ff, 225, 0
+#define BOT_PWM_CLAMP_CLOSE_TIME 225
+#define BOT_PWM_CLAMP_CLOSE -0x3ff, 225, 0
+
+#define BOT_PWM_DOOR_OPEN_TIME 225
+#define BOT_PWM_DOOR_OPEN 0x3ff, 225, 0
+#define BOT_PWM_DOOR_CLOSE_TIME 225
+#define BOT_PWM_DOOR_CLOSE -0x3ff, 225, 0
+
#endif /* bot_h */