summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/robospierre/clamp.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c19
1 files changed, 19 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 0172d891..b32549d2 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -221,6 +221,25 @@ clamp_drop_clear (void)
FSM_HANDLE (AI, clamp_drop_clear);
}
+void
+clamp_door (uint8_t pos, uint8_t open)
+{
+ if (pos == 0xff)
+ {
+ if (open)
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_OPEN);
+ else
+ pwm_set_timed (BOT_PWM_CLAMP, BOT_PWM_CLAMP_CLOSE);
+ }
+ else if (clamp_slot_door[pos] != 0xff)
+ {
+ if (open)
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_OPEN);
+ else
+ pwm_set_timed (clamp_slot_door[pos], BOT_PWM_DOOR_CLOSE (pos));
+ }
+}
+
uint8_t
clamp_handle_event (void)
{