cobboard: better actions + i2c

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

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 0ed2f1a..7eb186e 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -78,9 +78,9 @@ static void do_cs(__attribute__((unused)) void *dummy)
                ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
                rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
                sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
-               if (ls < -2000 || ls > 2000 ||
-                   rs < -2000 || rs > 2000 ||
-                   sh < -2000 || sh > 2000) {
+               if (ls < -3000 || ls > 3000 ||
+                   rs < -3000 || rs > 3000 ||
+                   sh < -3000 || sh > 3000) {
                        printf_P(PSTR("left_spickle %ld "), ls);
                        printf_P(PSTR("right_spickle %ld "), rs);
                        printf_P(PSTR("shovel %ld "), sh);
@@ -196,7 +196,7 @@ void microb_cs_init(void)
 
        /* quadramp */
        quadramp_init(&cobboard.shovel.qr);
-       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 
        /* CS */