robofsm: Jaws actuator positions updated to new mechanism using servos.

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index a9f0bee6623d2a30345730d7380b51afa02606e7..fa9c882851f34d67626df67b724c21d7c8e5a8f6 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -30,6 +30,8 @@ static uint16_t lift_last_request;
 void act_init(struct robottype_orte_data *ortedata)
 {
        orte = ortedata;
+       act_jaws(OPEN);
+       act_lift(0, 0, 1);
 }
 
 void act_camera_on(void)

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index c51fc822d99ed8a3de80097021f0f9f740442adc..ea6568822da4685ffdd684902a01501ce533af60 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -39,14 +39,14 @@ typedef enum {
   CATCH
 } jaws_cmds;
 
-#define JAW_LEFT_OPEN  0xFF
-#define JAW_RIGHT_OPEN 0x00
+#define JAW_LEFT_OPEN  0xd0
+#define JAW_RIGHT_OPEN 0x70
 
-#define JAW_LEFT_CLOSE 0x80
-#define JAW_RIGHT_CLOSE        0x80
+#define JAW_LEFT_CLOSE 0x40
+#define JAW_RIGHT_CLOSE        0xf0
 
-#define JAW_LEFT_CATCH 0xB8
-#define JAW_RIGHT_CATCH        0x38
+#define JAW_LEFT_CATCH 0x80
+#define JAW_RIGHT_CATCH        0xc0
 
 #ifdef __cplusplus
 extern "C" {