robofsm: Fix jaw actuator function parameter and update position for holding figure.

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 607930dd2c96388cdecaaa80144f6da87e9d8573..1d8cfb5f56edca478cfae1061290c178d5a68d2b 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -54,8 +54,8 @@ 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;
@@ -66,8 +66,8 @@ void act_jaws(struct robottype_orte_data *orte_data, jaws_cmds cmd)
           orte->jaws_cmd.req_pos.right=0x36F;
           break;
       case CATCH:
-          orte->jaws_cmd.req_pos.left=0x1C3;
-          orte->jaws_cmd.req_pos.right=0x1B3;
+          orte->jaws_cmd.req_pos.left = 0x25F;
+          orte->jaws_cmd.req_pos.right = 0x27F;
           break;
       default:
           orte->jaws_cmd.req_pos.left=0x1C3;

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 4b8bf219a6087efe36b645fec74442fcc3bba618..09b198f5e9072c3d0347c58b33ea577d6492f821 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -49,7 +49,7 @@ void act_camera_on(void);
 void act_camera_off(void);
 
 void act_lift(uint16_t position, char speed);
-void act_jaws(robottype_orte_data* orte_data, jaws_cmds cmd);
+void act_jaws(jaws_cmds cmd);
 
 uint16_t act_jaw_left_get_last_reqest(void);
 uint16_t act_jaw_right_get_last_reqest(void);