From 0fa879937b0a0484fe82cf9bffe3c46b6c841389 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Mon, 23 May 2011 14:29:18 +0200 Subject: [PATCH] robofsm: Jaws actuator positions updated to new mechanism using servos. --- src/robofsm/actuators.c | 2 ++ src/robofsm/actuators.h | 12 ++++++------ 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c index a9f0bee6..fa9c8828 100644 --- 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 c51fc822..ea656882 100644 --- 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" { -- 2.39.2