20100416

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

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index a718970..0ed2f1a 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -102,8 +102,8 @@ static void do_cs(__attribute__((unused)) void *dummy)
 
                /* urgent case: stop power on blocking */
                if (cobboard.flags & DO_ERRBLOCKING) {
-                       if (bd_get(&cobboard.left_spickle.bd) ||
-                           bd_get(&cobboard.right_spickle.bd) ||
+                       if (/* bd_get(&cobboard.left_spickle.bd) || */
+                           /* bd_get(&cobboard.right_spickle.bd) || */
                            bd_get(&cobboard.shovel.bd)) {
                                printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
                                cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -149,8 +149,8 @@ void microb_cs_init(void)
        /* ---- CS left_spickle */
        /* PID */
        pid_init(&cobboard.left_spickle.pid);
-       pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
-       pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+       pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
+       pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
        pid_set_out_shift(&cobboard.left_spickle.pid, 10);
        pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
@@ -169,8 +169,8 @@ void microb_cs_init(void)
        /* ---- CS right_spickle */
        /* PID */
        pid_init(&cobboard.right_spickle.pid);
-       pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
-       pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+       pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+       pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
        pid_set_out_shift(&cobboard.right_spickle.pid, 10);
        pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);