X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=896fa163570950e56ce533717f9f41c99eb59146;hb=c20f7eb8460dd04e42f95d799f17d9b60b5ee8e4;hp=516f00b0e27c6266e0c7da03d7d2539d0c773926;hpb=78150017ab8c5615af414df706a0525fe7c262ae;p=aversive.git

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 516f00b..896fa16 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -133,11 +133,11 @@ static void do_cs(void *dummy)
 		bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
 		bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
 		if (mainboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&mainboard.left_cobroller.bd) ||
-			    bd_get(&mainboard.left_cobroller.bd)) {
-				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
-				mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
-			}
+/* 			if (bd_get(&mainboard.left_cobroller.bd) || */
+/* 			    bd_get(&mainboard.left_cobroller.bd)) { */
+/* 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/* 				mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/* 			} */
 		}
 #endif
 	}
@@ -165,7 +165,6 @@ static void do_cs(void *dummy)
 
 #ifdef HOST_VERSION
 	if ((cpt & 7) == 0) {
-		//		dump_cs("dist", &mainboard.distance.cs);
 		robotsim_dump();
 	}
 #endif
@@ -224,7 +223,7 @@ void microb_cs_init(void)
 	position_init(&mainboard.pos);
 	position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 	position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+	//position_set_centrifugal_coef(&mainboard.pos, 0.000025);
 	position_use_ext(&mainboard.pos);
 
 	/* TRAJECTORY MANAGER */
@@ -240,8 +239,8 @@ void microb_cs_init(void)
 	/* ---- CS angle */
 	/* PID */
 	pid_init(&mainboard.angle.pid);
-	pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
-	pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+	pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+	pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
 	pid_set_out_shift(&mainboard.angle.pid, 10);
 	pid_set_derivate_filter(&mainboard.angle.pid, 4);
 
@@ -266,8 +265,8 @@ void microb_cs_init(void)
 	/* ---- CS distance */
 	/* PID */
 	pid_init(&mainboard.distance.pid);
-	pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
-	pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+	pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+	pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
 	pid_set_out_shift(&mainboard.distance.pid, 10);
 	pid_set_derivate_filter(&mainboard.distance.pid, 6);
 
@@ -337,8 +336,8 @@ void microb_cs_init(void)
 	mainboard.left_cobroller.on = 1;
 	mainboard.right_cobroller.on = 1;
 
-
 	scheduler_add_periodical_event_priority(do_cs, NULL,
 						5000L / SCHEDULER_UNIT,
 						CS_PRIO);
+
 }