cup1

[aversive.git] / projects / microb2010 / ballboard / cs.c

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index ed5c0ff..262f73c 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -140,7 +140,7 @@ void microb_cs_init(void)
        bd_init(&ballboard.roller.bd);
 #define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
        bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
-       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
+       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
        /* ---- CS forktrans */
        /* PID */
@@ -178,7 +178,7 @@ void microb_cs_init(void)
 
        /* QUADRAMP */
        quadramp_init(&ballboard.forkrot.qr);
-       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
+       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
        quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 
        /* CS */
@@ -197,7 +197,7 @@ void microb_cs_init(void)
        /* set them on !! */
        ballboard.roller.on = 1;
        ballboard.forktrans.on = 1;
-       ballboard.forkrot.on = 1;
+       ballboard.forkrot.on = 0;
 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,