From 447138614e45686cff0bf55a351610c1c108168a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 22 May 2011 18:42:06 +0200 Subject: digital/io-hub: update clamp positions and pwm values --- digital/io-hub/src/robospierre/bot.h | 75 +++++++++++++++++++++++------------- 1 file changed, 48 insertions(+), 27 deletions(-) (limited to 'digital/io-hub/src/robospierre/bot.h') diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h index a986c015..5f9d177a 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -53,30 +53,49 @@ # define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x3b0b / 2) # define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3b0b # define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3b0b -# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 3) -# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 3) +# 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_BAY_FRONT_ROTATION_STEP 0 -# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x11c6 -# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x11c6 / 2) +# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x11c6 +# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x11c6 +# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x11c6 + +# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \ + BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP +# define BOT_CLAMP_BAY_BACK_ROTATION_STEP \ + BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP +# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \ + (BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2) #else /* !HOST */ # define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0 -# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP 0x1d83 -# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3288 -# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0 -# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP 0x1d83 -# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3288 -# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3288 -# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1d83 -# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1d83 -# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP 0x1d83 - -# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0 -# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x10e2 -# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x820 +# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP (0x1da7 - 250) +# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x34f7 +# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0x0169 +# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x1f03 - 250) +# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3610 +# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3729 +# 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) + +# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP 0 +# define BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP 0x10ce +# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP ((0x10ce + 0x10e2) / 2) +# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x10e2 + +# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \ + BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP +# define BOT_CLAMP_BAY_BACK_ROTATION_STEP \ + BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP +# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x816 #endif /* !HOST */ @@ -89,14 +108,16 @@ #define BOT_PWM_DOOR_BACK_BOTTOM 3 #define BOT_PWM_DOOR_BACK_TOP 4 -#define BOT_PWM_CLAMP_OPEN_TIME 225 -#define BOT_PWM_CLAMP_OPEN 0x3ff, 225, 0 -#define BOT_PWM_CLAMP_CLOSE_TIME 225 -#define BOT_PWM_CLAMP_CLOSE -0x3ff, 225, 0 - -#define BOT_PWM_DOOR_OPEN_TIME 225 -#define BOT_PWM_DOOR_OPEN 0x3ff, 225, 0 -#define BOT_PWM_DOOR_CLOSE_TIME 225 -#define BOT_PWM_DOOR_CLOSE -0x3ff, 225, 0 +#define BOT_PWM_CLAMP_OPEN_TIME 75 +#define BOT_PWM_CLAMP_OPEN 0x3ff, 75, 0 +#define BOT_PWM_CLAMP_CLOSE_TIME 75 +#define BOT_PWM_CLAMP_CLOSE -0x3ff, 75, 0 + +#define BOT_PWM_DOOR_OPEN_TIME 12 +#define BOT_PWM_DOOR_OPEN 0x3ff, 37, 0x55 +#define BOT_PWM_DOOR_CLOSE_TIME 50 +#define BOT_PWM_DOOR_CLOSE(slot) \ + -0x3ff, 50, ((slot == CLAMP_SLOT_FRONT_BOTTOM \ + || slot == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x180) #endif /* bot_h */ -- cgit v1.2.3