From a186eaba13baab4cebeaeb8f2701ed00197764f1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 27 May 2011 01:00:23 +0200 Subject: digital/io-hub: fix hardware offset when going to front --- digital/io-hub/src/robospierre/clamp.c | 4 ++-- 1 file 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. */ -- cgit v1.2.3