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) ||
ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
}
}
+#endif
}
if (ballboard.flags & DO_POWER)
BRAKE_OFF();
/* 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);