eb_jaws_11: update jaws min, max position

[eurobot/public.git] / src / robofsm / actuators.c

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 607930dd2c96388cdecaaa80144f6da87e9d8573..4ca6d16677740e05e9356dd471948be5e2ce2998 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -54,24 +54,24 @@ void act_lift(uint16_t position, char speed)
        ORTEPublicationSend(orte->publication_lift_cmd);
 }
 
-void act_jaws(struct robottype_orte_data *orte_data, jaws_cmds cmd)
-{       
+void act_jaws(jaws_cmds cmd)
+{
   switch (cmd) {
       case OPEN:
-        orte->jaws_cmd.req_pos.left=0x1C3;
-        orte->jaws_cmd.req_pos.right=0x1B3;
-        break;
+         orte->jaws_cmd.req_pos.left = JAW_LEFT_OPEN;
+         orte->jaws_cmd.req_pos.right = JAW_RIGHT_OPEN;
+         break;
       case CLOSE:
-          orte->jaws_cmd.req_pos.left=0x30F;
-          orte->jaws_cmd.req_pos.right=0x36F;
+          orte->jaws_cmd.req_pos.left = JAW_LEFT_CLOSE;
+          orte->jaws_cmd.req_pos.right = JAW_RIGHT_CLOSE;
           break;
       case CATCH:
-          orte->jaws_cmd.req_pos.left=0x1C3;
-          orte->jaws_cmd.req_pos.right=0x1B3;
+          orte->jaws_cmd.req_pos.left = JAW_LEFT_CATCH;
+          orte->jaws_cmd.req_pos.right = JAW_RIGHT_CATCH;
           break;
       default:
-          orte->jaws_cmd.req_pos.left=0x1C3;
-          orte->jaws_cmd.req_pos.right=0x1B3;
+          orte->jaws_cmd.req_pos.left = JAW_LEFT_OPEN;
+          orte->jaws_cmd.req_pos.right = JAW_RIGHT_OPEN;
       }
 }