From 7fb3f57643527233fa851c09c61bdda3949e74a2 Mon Sep 17 00:00:00 2001
From: Michal Vokac <vokac.m@gmail.com>
Date: Tue, 3 May 2011 20:32:35 +0200
Subject: [PATCH] robofsm: Fix jaw actuator function parameter and update
 position for holding figure.

---
 src/robofsm/actuators.c | 8 ++++----
 src/robofsm/actuators.h | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 607930dd..1d8cfb5f 100644
--- 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 4b8bf219..09b198f5 100644
--- 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);
-- 
2.39.2