From 011fd3e4e4d252d02df156a7679c6156cdc72c6a Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:04:01 +0200 Subject: * digital/io/src * asserv - add an goto_angle (not implemented yet). * get sample FSM - the get sample FSM will not call any other FSM (like the move). Instead, it assumes we are already at the right place, we just ensure the angle is correct ; - update the first state in consequences ; - add an angle as parameters (maybe we can remove the X/Y). * general defines - add define to ease the opening of the input hole. --- digital/io/src/giboulee.h | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/io/src/giboulee.h') diff --git a/digital/io/src/giboulee.h b/digital/io/src/giboulee.h index 45744f99..bda60c8f 100644 --- a/digital/io/src/giboulee.h +++ b/digital/io/src/giboulee.h @@ -47,6 +47,13 @@ */ #define BOT_ARM_THIRD_ROUND BOT_ARM_STEP_ROUND / 3 +/** + * The number of steps to do to open the input hole when the arm is closing + * it. + * For the moment, 15% of a complete turn + */ +#define BOT_ARM_MIN_TO_OPEN (BOT_ARM_STEP_ROUND / 100 * 15) + /** * How to compute a angle for giboulee? * One degree is 65536 / 360 -- cgit v1.2.3