From 9cbeca7897dda3dc1e35677d2573e7b3528a58e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 23 May 2011 20:40:50 +0200 Subject: digital/io-hub: handle clamp open/close offset --- digital/io-hub/src/robospierre/bot.h | 5 +++++ 1 file changed, 5 insertions(+) (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 4df9b89d..d68b0c6b 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -74,6 +74,8 @@ # define BOT_CLAMP_BAY_SIDE_ROTATION_STEP \ (BOT_CLAMP_BAY_BACK_ROTATION_STEP / 2) +#define BOT_CLAMP_CLOSED_ROTATION_OFFSET 0 + #else /* !HOST */ # define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0 @@ -100,10 +102,13 @@ BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP # define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x816 +#define BOT_CLAMP_CLOSED_ROTATION_OFFSET -61 + #endif /* !HOST */ #define BOT_CLAMP_ELEVATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_SPEED 0x30 +#define BOT_CLAMP_ROTATION_OFFSET_SPEED 2 #define BOT_PWM_CLAMP 2 #define BOT_PWM_DOOR_FRONT_BOTTOM 0 -- cgit v1.2.3