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bottle_drop: changed servo travels to match Simon's viper

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This commit is contained in:
Julian Oes 2014-03-30 15:01:07 +02:00
parent eb4e250da8
commit 64148a9e2a
1 changed files with 6 additions and 6 deletions
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12
src/modules/bottle_drop/bottle_drop.cpp
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@ -243,21 +243,21 @@ BottleDrop::task_main()
_doors_opened = hrt_absolute_time();
}
} else {
_actuators.control[0] = 0.5f;
_actuators.control[1] = -0.5f;
_actuators.control[0] = 1.0f;
_actuators.control[1] = -1.0f;
_doors_opened = 0;
}
/* update drop actuator, wait 0.5s until the doors are open before dropping */
if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 500000) {
_actuators.control[2] = 0.5f;
} else {
_actuators.control[2] = -0.5f;
} else {
_actuators.control[2] = 0.5f;
}
/* 2s after drop, reset and close everything again */
if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 2000000) {
/* 20s after drop, reset and close everything again */
if (_drop && _doors_opened != 0 && hrt_elapsed_time(&_doors_opened) > 20000000) {
_open_door = false;
_drop = false;
}