robofsm: Update jaws and lift positions.

Added delay between left and right jaw for better closing/opening.

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index fa9c882851f34d67626df67b724c21d7c8e5a8f6..33ac0b1150146ebf64fbd042057eb270110ef96c 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -60,23 +60,25 @@ void act_lift(uint16_t req_pos, char speed, char homing)
 
 void act_jaws(jaws_cmds cmd)
 {
-  switch (cmd) {
-      case OPEN:
-         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 = JAW_LEFT_CLOSE;
-          orte->jaws_cmd.req_pos.right = JAW_RIGHT_CLOSE;
-          break;
-      case CATCH:
-          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 = JAW_LEFT_OPEN;
-          orte->jaws_cmd.req_pos.right = JAW_RIGHT_OPEN;
-      }
+        switch (cmd) {
+        case OPEN:
+                orte->jaws_cmd.req_pos.right = JAW_RIGHT_OPEN;
+                usleep(300000);
+                orte->jaws_cmd.req_pos.left = JAW_LEFT_OPEN;
+                break;
+        case CLOSE:
+                orte->jaws_cmd.req_pos.left = JAW_LEFT_CLOSE;
+                usleep(300000);
+                orte->jaws_cmd.req_pos.right = JAW_RIGHT_CLOSE;
+                break;
+        case CATCH:
+                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 = JAW_LEFT_OPEN;
+                orte->jaws_cmd.req_pos.right = JAW_RIGHT_OPEN;
+        }
 }
 
 uint16_t act_jaw_left_get_last_reqest(void)

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 520a920f5c3e96059e2da29799ebae5010a49d61..459ba149af069009a4d780bf97b12f3c030d9e5c 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -39,16 +39,16 @@ typedef enum {
   CATCH
 } jaws_cmds;
 
-#define JAW_LEFT_OPEN  0xb0
-#define JAW_RIGHT_OPEN 0x70
+#define JAW_LEFT_OPEN  0xff
+#define JAW_RIGHT_OPEN 0x40
 
-#define JAW_LEFT_CLOSE 0x60
-#define JAW_RIGHT_CLOSE        0xc0
+#define JAW_LEFT_CLOSE 0x00
+#define JAW_RIGHT_CLOSE        0xff
 
-#define JAW_LEFT_CATCH 0x70
-#define JAW_RIGHT_CATCH        0xbb
+#define JAW_LEFT_CATCH 0x80
+#define JAW_RIGHT_CATCH        0xb0
 
-#define UP 0x100
+#define UP 0x140
 #define DOWN 0x0
 
 #ifdef __cplusplus