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 6d71e58..b2a8cc0 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,8 +40,13 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "state.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)
 {
@@ -64,6 +69,30 @@ static uint8_t shovel_is_at_pos(int32_t pos)
        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)
+{
+       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);
+}
+
 uint8_t shovel_is_up(void)
 {
        return shovel_is_at_pos(SHOVEL_UP);