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work on trajectory, update cobboard and ballboard too
[aversive.git]
/
projects
/
microb2010
/
ballboard
/
cs.c
diff --git
a/projects/microb2010/ballboard/cs.c
b/projects/microb2010/ballboard/cs.c
index
7e87fca
..
bab700d
100644
(file)
--- a/
projects/microb2010/ballboard/cs.c
+++ b/
projects/microb2010/ballboard/cs.c
@@
-57,7
+57,7
@@
int32_t encoders_spi_update_roller_speed(void *number)
}
/* called every 5 ms */
}
/* called every 5 ms */
-static void do_cs(void *dummy)
+static void do_cs(void *dummy)
{
/* read encoders */
if (ballboard.flags & DO_ENCODERS) {
{
/* read encoders */
if (ballboard.flags & DO_ENCODERS) {
@@
-108,7
+108,7
@@
void microb_cs_init(void)
/* PID */
pid_init(&ballboard.roller.pid);
pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
/* PID */
pid_init(&ballboard.roller.pid);
pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
- pid_set_maximums(&ballboard.roller.pid, 0, 10000,
2000
);
+ pid_set_maximums(&ballboard.roller.pid, 0, 10000,
4095
);
pid_set_out_shift(&ballboard.roller.pid, 6);
pid_set_derivate_filter(&ballboard.roller.pid, 6);
pid_set_out_shift(&ballboard.roller.pid, 6);
pid_set_derivate_filter(&ballboard.roller.pid, 6);
@@
-177,7
+177,7
@@
void microb_cs_init(void)
ballboard.forkrot.on = 1;
ballboard.forkrot.on = 1;
- scheduler_add_periodical_event_priority(do_cs, NULL,
+ scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
}
5000L / SCHEDULER_UNIT,
CS_PRIO);
}