better cobboard commands in strat_event

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

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 39ce2bc..42ab78b 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,14 +40,63 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "shovel.h"
+
+#define SHOVEL_DOWN 100
+#define SHOVEL_MID  4500
+#define SHOVEL_UP   11000
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
+       printf_P(PSTR("shovel autopos..."));
        pwm_ng_set(SHOVEL_PWM, -500);
        wait_ms(1000);
        pwm_ng_set(LEFT_SPICKLE_PWM, 0);
        encoders_spi_set_value(SHOVEL_ENCODER, 0);
+       printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+       int32_t diff;
+       diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+       if (diff < 0)
+               diff = -diff;
+       if (diff < 500)
+               return 1;
+       return 0;
+}
+
+void shovel_down(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
+uint8_t shovel_is_up(void)
+{
+       return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+       return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
 void shovel_init(void)