}
#endif
- if (cobboard.flags & DO_BD) {
+ if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
+
+ /* urgent case: stop power on blocking */
+ if (cobboard.flags & DO_ERRBLOCKING) {
+ 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);
+ }
+ }
}
if (cobboard.flags & DO_POWER)
BRAKE_OFF();
/* Blocking detection */
bd_init(&cobboard.left_spickle.bd);
bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
- bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
/* ---- CS right_spickle */
/* PID */
/* Blocking detection */
bd_init(&cobboard.right_spickle.bd);
bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
- bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
/* ---- CS shovel */
/* PID */
/* Blocking detection */
bd_init(&cobboard.shovel.bd);
bd_set_speed_threshold(&cobboard.shovel.bd, 150);
- bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
/* set them on (or not) !! */
cobboard.left_spickle.on = 0;