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Diffstat (limited to 'digital/io-hub/src/robospierre/bot.h')
-rw-r--r--digital/io-hub/src/robospierre/bot.h12
1 files changed, 10 insertions, 2 deletions
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index 6079b9d8..02b74da9 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -78,7 +78,8 @@
# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \
(BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2)
-#define BOT_CLAMP_CLOSED_ROTATION_OFFSET 0
+#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET 0
+#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET 0
#else /* !HOST */
@@ -106,10 +107,17 @@
BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP
# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x10de
-#define BOT_CLAMP_CLOSED_ROTATION_OFFSET -61
+#define BOT_CLAMP_CLOSED_FRONT_ROTATION_OFFSET -129
+#define BOT_CLAMP_CLOSED_BACK_ROTATION_OFFSET -60
#endif /* !HOST */
+#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_ELEVATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_SPEED 0x60
#define BOT_CLAMP_ROTATION_OFFSET_SPEED 1