eb_jaws_11: update jaws min, max position

robofsm: update jaws min, max position, now is open, close, catch values as defines in header file

diff --git a/src/eb_jaws_11/main.c b/src/eb_jaws_11/main.c
index 434642bcdf749c9bdc6aeec6024c867f58c4c89c..68eea98b4638b6d14465ca404e3fe34bb80960d2 100644 (file)
--- a/src/eb_jaws_11/main.c
+++ b/src/eb_jaws_11/main.c
@@ -358,14 +358,14 @@ int main(void)
        
        //close jaw, max_pos, open jaw min_pos
        //letf jaw potenciometer on ADC 0, header J32 on board
-       fsm_jaw_left.max_pos=0x310; //max 0x324
-       fsm_jaw_left.min_pos=0xB0; //min 0xC0
+       fsm_jaw_left.max_pos=0x320; //max 0x324
+       fsm_jaw_left.min_pos=0xB0; //min 0xC3
        fsm_jaw_left.act_pos = adc_val[0];
        
        //close jaw, max_pos, open jaw min_pos
        //letf jaw potenciometer on ADC 1, header J33 on board
-       fsm_jaw_right.max_pos=0x370; //max 0x382
-       fsm_jaw_right.min_pos=0x080; //min 0x8D
+       fsm_jaw_right.max_pos=0x380; //max 0x382
+       fsm_jaw_right.min_pos=0x010; //min 0xF5
        fsm_jaw_right.act_pos = adc_val[1];
        
        //left jaw engine is engine A, conector MOTA on board

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 1d8cfb5f56edca478cfae1061290c178d5a68d2b..4ca6d16677740e05e9356dd471948be5e2ce2998 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -58,20 +58,20 @@ 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 = 0x25F;
-          orte->jaws_cmd.req_pos.right = 0x27F;
+          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;
       }
 }
 

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index 09b198f5e9072c3d0347c58b33ea577d6492f821..cf76f34dd84030a13078a8539829e346c5f9cca0 100644 (file)
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -39,6 +39,15 @@ typedef enum {
   CATCH
 } jaws_cmds;
 
+#define JAW_LEFT_OPEN  0x1C3
+#define JAW_RIGHT_OPEN 0x1B3
+
+#define JAW_LEFT_CLOSE 0x31F
+#define JAW_RIGHT_CLOSE        0x37F
+
+#define JAW_LEFT_CATCH 0x25F
+#define JAW_RIGHT_CATCH 0x27F
+
 #ifdef __cplusplus
 extern "C" {
 #endif