From fd9d4c27c0fefce4bfde4d85fde34444e4f1421f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 1 Jun 2011 00:46:13 +0200 Subject: digital/io-hub: save energy while waiting start --- digital/io-hub/src/robospierre/bot.h | 3 ++- digital/io-hub/src/robospierre/clamp.c | 6 ++++++ 2 files changed, 8 insertions(+), 1 deletion(-) (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 02ec8f07..e31825e3 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -176,7 +176,8 @@ || (slot) == CLAMP_SLOT_BACK_BOTTOM) ? -0x100 : -0x200) #define BOT_PWM_CLAMP_INIT 0x1ff, 150, 0 -#define BOT_PWM_DOOR_INIT 0x1ff, 80, 0x55 +#define BOT_PWM_DOOR_INIT 0x1ff, 80, 0 +#define BOT_PWM_DOOR_INIT_START 0x55 #define BOT_PWM_CLAMP_DOOR_INIT 150 #endif /* bot_h */ diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 979cc3c4..e3e04cf6 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -446,11 +446,17 @@ FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success, FSM_TRANS (CLAMP_INIT_GOING_REST, clamp_move_success, CLAMP_INIT_READY) { + mimot_motor0_free (); + mimot_motor1_free (); return FSM_NEXT (CLAMP_INIT_GOING_REST, clamp_move_success); } FSM_TRANS (CLAMP_INIT_READY, init_start_round, CLAMP_GOING_IDLE) { + pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_INIT_START); + pwm_set (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_INIT_START); + pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_INIT_START); + pwm_set (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_INIT_START); clamp_move (logistic_global.clamp_pos_idle); return FSM_NEXT (CLAMP_INIT_READY, init_start_round); } -- cgit v1.2.3