X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=35628d2806a23847e3c9ade3f673ddb6b294459c;hb=04f1061f2c5959ce87f632591576097f540dfc14;hp=e1166da7823d4570a8faa0240964eee285515b0e;hpb=ad466314d3aff8f661654d4701b9d12fdeb7811f;p=aversive.git

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index e1166da..35628d2 100644
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -82,6 +82,7 @@ static void do_cs(void *dummy)
 					 cs_get_filtered_feedback(&ballboard.roller.cs),
 					 cs_get_out(&ballboard.roller.cs));
 
+#if 0
 		/* urgent case: stop power on blocking */
 		if (ballboard.flags & DO_ERRBLOCKING) {
 			if (bd_get(&ballboard.forktrans.bd) ||
@@ -90,6 +91,7 @@ static void do_cs(void *dummy)
 				ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 			}
 		}
+#endif
 	}
 	if (ballboard.flags & DO_POWER)
 		BRAKE_OFF();
@@ -181,8 +183,8 @@ void microb_cs_init(void)
 
 	/* QUADRAMP */
 	quadramp_init(&ballboard.forkrot.qr);
-	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
-	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
+	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
 
 	/* CS */
 	cs_init(&ballboard.forkrot.cs);