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Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h11
1 files changed, 5 insertions, 6 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 4333ba8a..21e936cb 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -84,8 +84,8 @@
# 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_INIT_ELEVATION_SWITCH_STEP \
+ BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
@@ -117,9 +117,8 @@
# 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_INIT_ELEVATION_SWITCH_STEP \
+ BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP // TODO: measure on robot
# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0
# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0
@@ -150,7 +149,7 @@
? BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET \
: BOT_CLAMP_CLOSED_SIDE_ROTATION_OFFSET))
-#define BOT_CLAMP_INIT_ELEVATION_SPEED 0x08
+#define BOT_CLAMP_INIT_ELEVATION_SPEED 0x10
#define BOT_CLAMP_INIT_ROTATION_SPEED -0x04
#define BOT_CLAMP_ELEVATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_SPEED 0x60