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authorNicolas Schodet2011-05-23 20:40:50 +0200
committerNicolas Schodet2011-05-23 20:40:50 +0200
commit9cbeca7897dda3dc1e35677d2573e7b3528a58e1 (patch)
tree52efaea895224b0b478f14773862a519fdefea82 /digital/io-hub/src/robospierre/bot.h
parent2f37578582ba9831122d55e189fe4cce41aa758a (diff)
digital/io-hub: handle clamp open/close offset
Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 4df9b89d..d68b0c6b 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -74,6 +74,8 @@
# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \
(BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2)
+#define BOT_CLAMP_CLOSED_ROTATION_OFFSET 0
+
#else /* !HOST */
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
@@ -100,10 +102,13 @@
BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP
# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x816
+#define BOT_CLAMP_CLOSED_ROTATION_OFFSET -61
+
#endif /* !HOST */
#define BOT_CLAMP_ELEVATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_SPEED 0x30
+#define BOT_CLAMP_ROTATION_OFFSET_SPEED 2
#define BOT_PWM_CLAMP 2
#define BOT_PWM_DOOR_FRONT_BOTTOM 0