new base mech plate

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

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 42ab78bce33c89b094357edf05064b5efd41a471..bd0c7c957c5ee3b55b2e6f406e7b2510d267a1ed 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,10 +40,11 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "state.h"
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
-#define SHOVEL_MID  4500
+#define SHOVEL_MID  5250
 #define SHOVEL_UP   11000
 
 /* init spickle position at beginning */
@@ -84,7 +85,10 @@ void shovel_mid(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);
 }