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authorNicolas Schodet2011-05-27 01:00:23 +0200
committerNicolas Schodet2011-05-29 09:57:31 +0200
commita186eaba13baab4cebeaeb8f2701ed00197764f1 (patch)
treea68d89ee82662a8a397a88ba255fa320b29ad9d9 /digital/io-hub/src/robospierre/clamp.c
parent22d384a1c0fc9464c25db92550210c4d633c97e1 (diff)
digital/io-hub: fix hardware offset when going to front
Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 9dfb01f9..0c01e468 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -271,10 +271,10 @@ clamp_handle_event (void)
/* Handle special hardware offset. */
uint16_t rotation_position = mimot_get_motor1_position ();
if ((ctx.pos_current == CLAMP_BAY_FRONT_LEAVING
- && rotation_position > (BOT_CLAMP_BAY_SIDE_ROTATION_STEP -
+ && rotation_position > (BOT_CLAMP_BAY_SIDE_ROTATION_STEP +
BOT_CLAMP_BAY_FRONT_ROTATION_STEP) / 2)
|| (ctx.pos_current == CLAMP_BAY_BACK_LEAVING
- && rotation_position < (BOT_CLAMP_BAY_BACK_ROTATION_STEP -
+ && rotation_position < (BOT_CLAMP_BAY_BACK_ROTATION_STEP +
BOT_CLAMP_BAY_SIDE_ROTATION_STEP) / 2))
{
/* Go directly to next point. */