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/clamp.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) (limited to 'digital/io-hub/src/robospierre/clamp.c') diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 583cadb5..b7c85250 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -130,17 +130,17 @@ struct clamp_t clamp_global; /** Clamp positions. */ static const uint16_t clamp_pos[][2] = { { BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP, - BOT_CLAMP_BAY_FRONT_ROTATION_STEP }, + BOT_CLAMP_SLOT_FRONT_BOTTOM_ROTATION_STEP }, { BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP, - BOT_CLAMP_BAY_FRONT_ROTATION_STEP }, + BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP }, { BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP, - BOT_CLAMP_BAY_FRONT_ROTATION_STEP }, + BOT_CLAMP_SLOT_FRONT_TOP_ROTATION_STEP }, { BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP, - BOT_CLAMP_BAY_BACK_ROTATION_STEP }, + BOT_CLAMP_SLOT_BACK_BOTTOM_ROTATION_STEP }, { BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP, - BOT_CLAMP_BAY_BACK_ROTATION_STEP }, + BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP }, { BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP, - BOT_CLAMP_BAY_BACK_ROTATION_STEP }, + BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP }, { BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP, BOT_CLAMP_BAY_SIDE_ROTATION_STEP }, { BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP, @@ -336,7 +336,8 @@ FSM_TRANS (CLAMP_GOING_IDLE, clamp_move_success, CLAMP_IDLE) FSM_TRANS (CLAMP_IDLE, clamp_new_element, CLAMP_TAKING_DOOR_CLOSING) { - pwm_set_timed (clamp_slot_door[ctx.pos_new], BOT_PWM_DOOR_CLOSE); + pwm_set_timed (clamp_slot_door[ctx.pos_new], + BOT_PWM_DOOR_CLOSE (ctx.pos_new)); return FSM_NEXT (CLAMP_IDLE, clamp_new_element); } @@ -524,7 +525,7 @@ FSM_TRANS (CLAMP_MOVE_DST_ROUTING, clamp_elevation_rotation_success, if (clamp_slot_door[ctx.pos_current] != 0xff) { pwm_set_timed (clamp_slot_door[ctx.pos_current], - BOT_PWM_DOOR_CLOSE); + BOT_PWM_DOOR_CLOSE (ctx.pos_current)); return FSM_NEXT (CLAMP_MOVE_DST_ROUTING, clamp_elevation_rotation_success, done_close_door); -- cgit v1.2.3