From 04816a2763a12e4cb90f5c2de4b8f5b9e37a3f22 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 00:42:31 +0200 Subject: digital/{ai,io-hub,mimot}: add parameter for brake --- digital/io-hub/src/guybrush/bottom_clamp.c | 2 +- digital/io-hub/src/guybrush/main.c | 4 ++-- digital/io-hub/src/guybrush/pressure.c | 2 +- digital/io-hub/src/robospierre/clamp.c | 8 ++++---- digital/io-hub/src/robospierre/main.c | 4 ++-- 5 files changed, 10 insertions(+), 10 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index a1220acc..122c4e39 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -599,7 +599,7 @@ FSM_TRANS_TIMEOUT (CLAMP_REARRANGE_CD, TIMEOUT_RECENTRAGE, CLAMP_BOTTOM_CLAMP_HI } FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_success, CLAMP_RELEASE_ASSERV) { - mimot_motor0_free(); + mimot_motor_free (0, 1); return FSM_NEXT (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_success); } diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index 556be296..68892e3b 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -287,8 +287,8 @@ main_loop (void) IO_SET (OUTPUT_DOOR_OPEN); IO_CLR (OUTPUT_DOOR_CLOSE); /* Stop motors. */ - mimot_motor0_free (); - mimot_motor1_free (); + mimot_motor_free (0, 0); + mimot_motor_free (1, 0); /* End it and block here indefinitely. */ chrono_end_match (42); return; diff --git a/digital/io-hub/src/guybrush/pressure.c b/digital/io-hub/src/guybrush/pressure.c index 9fa909b0..7e0be308 100644 --- a/digital/io-hub/src/guybrush/pressure.c +++ b/digital/io-hub/src/guybrush/pressure.c @@ -119,7 +119,7 @@ pressure_update (void) if (pressure_get () > pressure.high) { /* Done. Stop. Open circuit. */ - mimot_motor1_free (); + mimot_motor_free (1, 0); IO_SET (OUTPUT_PNEUM_OPEN); pressure.state = PRESSURE_IDLE; pressure.wait = PRESSURE_REST; diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 1f8c5072..39ae8dfa 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -547,8 +547,8 @@ clamp_blocked (void) else logistic_dump (DIRECTION_BACKWARD, 0); } - mimot_motor0_free (); - mimot_motor1_free (); + mimot_motor_free (0, 1); + mimot_motor_free (1, 1); /* Signal problem. */ fsm_queue_post_event (FSM_EVENT (AI, clamp_move_failure)); } @@ -649,8 +649,8 @@ 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 (); + mimot_motor_free (0, 1); + mimot_motor_free (1, 1); return FSM_NEXT (CLAMP_INIT_GOING_REST, clamp_move_success); } diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c index f16333c5..e68de49c 100644 --- a/digital/io-hub/src/robospierre/main.c +++ b/digital/io-hub/src/robospierre/main.c @@ -340,8 +340,8 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; case c ('w', 0): /* Disable all motor control. */ - mimot_motor0_free (); - mimot_motor1_free (); + mimot_motor_free (0, 0); + mimot_motor_free (1, 0); asserv_free_motor (); break; /* Stats commands. -- cgit v1.2.3