#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)
{
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);