ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
- if (ls < -2000 || ls > 2000 ||
- rs < -2000 || rs > 2000 ||
- sh < -2000 || sh > 2000) {
+ if (ls < -3000 || ls > 3000 ||
+ rs < -3000 || rs > 3000 ||
+ sh < -3000 || sh > 3000) {
printf_P(PSTR("left_spickle %ld "), ls);
printf_P(PSTR("right_spickle %ld "), rs);
printf_P(PSTR("shovel %ld "), sh);
/* quadramp */
quadramp_init(&cobboard.shovel.qr);
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
/* CS */