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optim cobboard
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
shovel.c
diff --git
a/projects/microb2010/cobboard/shovel.c
b/projects/microb2010/cobboard/shovel.c
index
abf0c42
..
42ab78b
100644
(file)
--- a/
projects/microb2010/cobboard/shovel.c
+++ b/
projects/microb2010/cobboard/shovel.c
@@
-43,8
+43,8
@@
#include "shovel.h"
#define SHOVEL_DOWN 100
#include "shovel.h"
#define SHOVEL_DOWN 100
-#define SHOVEL_MID 4
9
00
-#define SHOVEL_UP 1
0
000
+#define SHOVEL_MID 4
5
00
+#define SHOVEL_UP 1
1
000
/* init spickle position at beginning */
static void shovel_autopos(void)
/* init spickle position at beginning */
static void shovel_autopos(void)
@@
-70,19
+70,22
@@
static uint8_t shovel_is_at_pos(int32_t pos)
void shovel_down(void)
{
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_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_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
}
void shovel_up(void)
{
- quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 20);
+ 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);
}
cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
}