cup1

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

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index f6edc88..262f73c 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -73,14 +73,15 @@ static void do_cs(void *dummy)
                        cs_manage(&ballboard.forkrot.cs);
        }
        if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
-               bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
                bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
                bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+               bd_manage_from_speed_cmd(&ballboard.roller.bd,
+                                        cs_get_filtered_feedback(&ballboard.roller.cs),
+                                        cs_get_out(&ballboard.roller.cs));
 
                /* urgent case: stop power on blocking */
                if (ballboard.flags & DO_ERRBLOCKING) {
-                       if (bd_get(&ballboard.roller.bd) ||
-                           bd_get(&ballboard.forktrans.bd) ||
+                       if (bd_get(&ballboard.forktrans.bd) ||
                            bd_get(&ballboard.forkrot.bd)) {
                                printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
                                ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -137,8 +138,9 @@ void microb_cs_init(void)
 
        /* Blocking detection */
        bd_init(&ballboard.roller.bd);
-       bd_set_speed_threshold(&ballboard.roller.bd, 150);
-       bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#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, 1200000, 70);
 
        /* ---- CS forktrans */
        /* PID */
@@ -176,7 +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 */
@@ -195,7 +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,