From 04816a2763a12e4cb90f5c2de4b8f5b9e37a3f22 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 00:42:31 +0200 Subject: digital/{ai,io-hub,mimot}: add parameter for brake --- digital/io-hub/src/guybrush/bottom_clamp.c | 2 +- digital/io-hub/src/guybrush/main.c | 4 ++-- digital/io-hub/src/guybrush/pressure.c | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/io-hub/src/guybrush') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index a1220acc..122c4e39 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -599,7 +599,7 @@ FSM_TRANS_TIMEOUT (CLAMP_REARRANGE_CD, TIMEOUT_RECENTRAGE, CLAMP_BOTTOM_CLAMP_HI } FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_success, CLAMP_RELEASE_ASSERV) { - mimot_motor0_free(); + mimot_motor_free (0, 1); return FSM_NEXT (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_success); } diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index 556be296..68892e3b 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -287,8 +287,8 @@ main_loop (void) IO_SET (OUTPUT_DOOR_OPEN); IO_CLR (OUTPUT_DOOR_CLOSE); /* Stop motors. */ - mimot_motor0_free (); - mimot_motor1_free (); + mimot_motor_free (0, 0); + mimot_motor_free (1, 0); /* End it and block here indefinitely. */ chrono_end_match (42); return; diff --git a/digital/io-hub/src/guybrush/pressure.c b/digital/io-hub/src/guybrush/pressure.c index 9fa909b0..7e0be308 100644 --- a/digital/io-hub/src/guybrush/pressure.c +++ b/digital/io-hub/src/guybrush/pressure.c @@ -119,7 +119,7 @@ pressure_update (void) if (pressure_get () > pressure.high) { /* Done. Stop. Open circuit. */ - mimot_motor1_free (); + mimot_motor_free (1, 0); IO_SET (OUTPUT_PNEUM_OPEN); pressure.state = PRESSURE_IDLE; pressure.wait = PRESSURE_REST; -- cgit v1.2.3