X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=31fa5e7e70b3ddcb20320bb69e68ad317b9d3597;hb=HEAD;hp=f8c71233cda4c39f4fdc81afd75cf7fbb20fb06d;hpb=2ec8afa4255b002db5cbcedaabfe2d2f0c924a16;p=aversive.git

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index f8c7123..31fa5e7 100644
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -46,6 +46,7 @@
 #include "main.h"
 #include "actuator.h"
 #include "spickle.h"
+#include "shovel.h"
 
 /* called every 5 ms */
 static void do_cs(__attribute__((unused)) void *dummy)
@@ -124,8 +125,14 @@ void microb_cs_init(void)
 	pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
+	/* quadramp */
+	quadramp_init(&cobboard.left_spickle.qr);
+	quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 3000, 3000); /* set speed */
+	quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 0, 0); /* set accel */
+
 	/* CS */
 	cs_init(&cobboard.left_spickle.cs);
+	cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
 	cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
 	cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
 	cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
@@ -144,8 +151,14 @@ void microb_cs_init(void)
 	pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 
+	/* quadramp */
+	quadramp_init(&cobboard.right_spickle.qr);
+	quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set speed */
+	quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set accel */
+
 	/* CS */
 	cs_init(&cobboard.right_spickle.cs);
+	cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
 	cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
 	cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
 	cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
@@ -173,7 +186,7 @@ void microb_cs_init(void)
 	cs_init(&cobboard.shovel.cs);
 	cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 	cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
-	cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
+	cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
 	cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 	cs_set_consign(&cobboard.shovel.cs, 0);