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shovel speed and carry servo optim
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
shovel.c
diff --git
a/projects/microb2010/cobboard/shovel.c
b/projects/microb2010/cobboard/shovel.c
index
42ab78b
..
b2a8cc0
100644
(file)
--- a/
projects/microb2010/cobboard/shovel.c
+++ b/
projects/microb2010/cobboard/shovel.c
@@
-40,6
+40,7
@@
#include <rdline.h>
#include "main.h"
#include <rdline.h>
#include "main.h"
+#include "state.h"
#include "shovel.h"
#define SHOVEL_DOWN 100
#include "shovel.h"
#define SHOVEL_DOWN 100
@@
-84,7
+85,10
@@
void shovel_mid(void)
void shovel_up(void)
{
void shovel_up(void)
{
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+ if (state_get_cob_count() <= 1)
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+ else
+ 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);
}
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
}