From 9b1ce3a050d9169f3bf77764063de0cff800190e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 27 May 2011 07:58:36 +0200 Subject: digital/{ai,io-hub,mimot}, host/simu: change robospierre rotation motor --- digital/io-hub/src/robospierre/bot.h | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'digital/io-hub/src/robospierre') diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h index 1071bf7e..65f6adf6 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -67,9 +67,9 @@ # 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_SLOT_BACK_BOTTOM_ROTATION_STEP 0x233e +# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x233e +# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x233e # define BOT_CLAMP_BAY_FRONT_ROTATION_STEP \ BOT_CLAMP_SLOT_FRONT_MIDDLE_ROTATION_STEP @@ -96,23 +96,23 @@ # 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_SLOT_BACK_BOTTOM_ROTATION_STEP 0x233e +# define BOT_CLAMP_SLOT_BACK_MIDDLE_ROTATION_STEP 0x233e +# define BOT_CLAMP_SLOT_BACK_TOP_ROTATION_STEP 0x233e # 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 +# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x10de #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_CLAMP_ROTATION_SPEED 0x60 +#define BOT_CLAMP_ROTATION_OFFSET_SPEED 1 #define BOT_PWM_CLAMP 2 #define BOT_PWM_DOOR_FRONT_BOTTOM 0 -- cgit v1.2.3