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authorNicolas Schodet2011-06-01 00:46:13 +0200
committerNicolas Schodet2011-06-01 00:46:13 +0200
commitfd9d4c27c0fefce4bfde4d85fde34444e4f1421f (patch)
treeb3f10add59159c7f9fc30bf11aefaad60b2f785c /digital/io-hub/src/robospierre
parentbbc0bfccf74022a37e8afd312cfde802444e281c (diff)
digital/io-hub: save energy while waiting start
Diffstat (limited to 'digital/io-hub/src/robospierre')
-rw-r--r--digital/io-hub/src/robospierre/bot.h3
-rw-r--r--digital/io-hub/src/robospierre/clamp.c6
2 files changed, 8 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 02ec8f07..e31825e3 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -176,7 +176,8 @@
|| (slot) == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x200)
#define BOT_PWM_CLAMP_INIT 0x1ff, 150, 0
-#define BOT_PWM_DOOR_INIT 0x1ff, 80, 0x55
+#define BOT_PWM_DOOR_INIT 0x1ff, 80, 0
+#define BOT_PWM_DOOR_INIT_START 0x55
#define BOT_PWM_CLAMP_DOOR_INIT 150
#endif /* bot_h */
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 979cc3c4..e3e04cf6 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -446,11 +446,17 @@ FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
FSM_TRANS (CLAMP_INIT_GOING_REST, clamp_move_success, CLAMP_INIT_READY)
{
+ mimot_motor0_free ();
+ mimot_motor1_free ();
return FSM_NEXT (CLAMP_INIT_GOING_REST, clamp_move_success);
}
FSM_TRANS (CLAMP_INIT_READY, init_start_round, CLAMP_GOING_IDLE)
{
+ pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_INIT_START);
+ pwm_set (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_INIT_START);
clamp_move (logistic_global.clamp_pos_idle);
return FSM_NEXT (CLAMP_INIT_READY, init_start_round);
}