better cobboard commands in strat_event

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

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index e1d9a7b..7296d8e 100644 (file)
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -60,23 +60,23 @@ struct spickle_params {
 };
 
 static struct spickle_params spickle = {
-       .k1 = 500,
+       .k1 = 1000,
        .k2 = 20,
        .csb = {
                &cobboard.left_spickle,
                &cobboard.right_spickle,
        },
        .pos_deployed = {
-               40000, /* left */
-               -40000, /* right */
+               7000, // 200, /* left */
+               7000, // 200, /* right */
        },
        .pos_mid = {
-               20000, /* left */
-               -20000, /* right */
+               25000, /* left */
+               26000, /* right */
        },
        .pos_packed = {
-               0, /* left */
-               0, /* right */
+               55800, /* left */
+               55800, /* right */
        },
 };
 
@@ -84,9 +84,9 @@ static struct spickle_params spickle = {
 static void spickle_autopos(void)
 {
        printf_P(PSTR("spickle autopos..."));
-       pwm_ng_set(LEFT_SPICKLE_PWM, -500);
-       pwm_ng_set(RIGHT_SPICKLE_PWM, 500);
-       wait_ms(1000);
+       pwm_ng_set(LEFT_SPICKLE_PWM, -700);
+       pwm_ng_set(RIGHT_SPICKLE_PWM, -700);
+       wait_ms(2500);
        pwm_ng_set(LEFT_SPICKLE_PWM, 0);
        pwm_ng_set(RIGHT_SPICKLE_PWM, 0);
        encoders_spi_set_value(LEFT_SPICKLE_ENCODER, 0);
@@ -137,7 +137,6 @@ void spickle_set_coefs(uint32_t k1, uint32_t k2)
        spickle.k2 = k2;
 }
 
-
 void spickle_set_pos(uint8_t side, int32_t pos_packed,
                     int32_t pos_mid, int32_t pos_deployed)
 {
@@ -159,6 +158,32 @@ void spickle_dump_params(void)
                 spickle.pos_deployed[I2C_RIGHT_SIDE]);
 }
 
+static uint8_t spickle_is_at_pos(uint8_t side, int32_t pos)
+{
+       int32_t diff;
+       int32_t enc;
+       if (side == I2C_LEFT_SIDE)
+               enc = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
+       else
+               enc = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
+       diff = pos - enc;
+       if (diff < 0)
+               diff = -diff;
+       if (diff < 500)
+               return 1;
+       return 0;
+}
+
+uint8_t spickle_is_packed(uint8_t side)
+{
+       return spickle_is_at_pos(side, spickle.pos_packed[side]);
+}
+
+uint8_t spickle_is_deployed(uint8_t side)
+{
+       return spickle_is_at_pos(side, spickle.pos_deployed[side]);
+}
+
 void spickle_deploy(uint8_t side)
 {
        cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);