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authorNicolas Schodet2011-05-28 00:31:13 +0200
committerNicolas Schodet2011-05-29 09:57:32 +0200
commit4882fbefaeca9cc5292cec9a2f93d34f04e67b5c (patch)
tree30c592351bcccc7b3e1f95c8b1af4419be5fec46 /digital/io-hub/src/robospierre/bot.h
parentfd8ce8373abf81f5d6781b577a0f50906f2f4ff8 (diff)
digital/io-hub: add clamp initialisation
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 02b74da9..7a8065dd 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -63,6 +63,8 @@
# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000)
# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2 + 1000)
# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_INIT_FRONT_SEEN_ELEVATION_STEP 0x18ca
+# define BOT_CLAMP_INIT_BACK_SEEN_ELEVATION_STEP 0x18ca
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
@@ -93,6 +95,9 @@
# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1da7
# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1f03
# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP ((0x1da7 + 0x1f03) / 2)
+// TODO: to be measured.
+# define BOT_CLAMP_INIT_FRONT_SEEN_ELEVATION_STEP (0x1da7 / 2)
+# define BOT_CLAMP_INIT_BACK_SEEN_ELEVATION_STEP (0x1f03 / 2)
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
@@ -112,12 +117,17 @@
#endif /* !HOST */
+#define BOT_CLAMP_INIT_ELEVATION_STEP \
+ BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP
+
#define BOT_CLAMP_CLOSED_ROTATION_OFFSET(pos) \
(CLAMP_IS_SLOT_IN_FRONT_BAY (pos) \
? BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET \
: (CLAMP_IS_SLOT_IN_BACK_BAY (pos) \
? BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET : 0))
+#define BOT_CLAMP_INIT_ELEVATION_SPEED 0x08
+#define BOT_CLAMP_INIT_ROTATION_SPEED -0x04
#define BOT_CLAMP_ELEVATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_OFFSET_SPEED 1
@@ -140,4 +150,8 @@
-0x3ff, 50, ((slot == CLAMP_SLOT_FRONT_BOTTOM \
|| slot == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x180)
+#define BOT_PWM_CLAMP_INIT 0x1ff, 125, 0
+#define BOT_PWM_DOOR_INIT 0x1ff, 74, 0x55
+#define BOT_PWM_CLAMP_DOOR_INIT 125
+
#endif /* bot_h */