From d385a9eacb2e8580239f101f96356f7ed216dd97 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 8 May 2011 13:02:53 +0200 Subject: digital/io-hub: add clamp moving --- digital/io-hub/src/robospierre/bot.h | 39 ++++++++++++++++++++++++++++++++++++ 1 file changed, 39 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 fa65ca07..9043a62c 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -34,4 +34,43 @@ # define BOT_SCALE 0.0415178942124 #endif +#ifdef HOST + +# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0 +# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP (0x3b0b / 2) +# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3b0b +# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0 +# 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 / 2) +# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2) +# 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) + +#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 + +#endif /* !HOST */ + +#define BOT_CLAMP_ELEVATION_SPEED 0x60 +#define BOT_CLAMP_ROTATION_SPEED 0x30 + #endif /* bot_h */ -- cgit v1.2.3