avant la coupe de belgique

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

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index e1d9a7b..cbcb65c 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 */
+               200, /* left */
+               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);