ballboard: ramp on roller, and maybe fix race on state machine

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

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index cf122e6..f6edc88 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -122,8 +122,14 @@ void microb_cs_init(void)
        pid_set_out_shift(&ballboard.roller.pid, 6);
        pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+       /* QUADRAMP (used as a ramp filter) */
+       quadramp_init(&ballboard.roller.qr);
+       quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+       quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
        /* CS */
        cs_init(&ballboard.roller.cs);
+       cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
        cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
        cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
        cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);