From a3fdbecac564a600c65568cac0e02fc72604567e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 12 May 2011 23:42:26 +0200 Subject: digital/{ai,io-hub}, host/simu/robots/robospierre: add doors and element move --- digital/io-hub/src/robospierre/bot.h | 16 ++++++++++++++++ 1 file changed, 16 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 9043a62c..5e795b0f 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -73,4 +73,20 @@ #define BOT_CLAMP_ELEVATION_SPEED 0x60 #define BOT_CLAMP_ROTATION_SPEED 0x30 +#define BOT_PWM_CLAMP 2 +#define BOT_PWM_DOOR_FRONT_BOTTOM 0 +#define BOT_PWM_DOOR_FRONT_TOP 1 +#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 + #endif /* bot_h */ -- cgit v1.2.3