vt100: include pgmspace.h as we use PROGMEM macro

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index b8d6e08..0700469 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -133,11 +133,11 @@ static void do_cs(void *dummy)
                bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
                bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
                if (mainboard.flags & DO_ERRBLOCKING) {
-                       if (bd_get(&mainboard.left_cobroller.bd) ||
-                           bd_get(&mainboard.left_cobroller.bd)) {
-                               printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
-                               mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
-                       }
+/*                     if (bd_get(&mainboard.left_cobroller.bd) || */
+/*                         bd_get(&mainboard.left_cobroller.bd)) { */
+/*                             printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/*                             mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/*                     } */
                }
 #endif
        }
@@ -165,7 +165,6 @@ static void do_cs(void *dummy)
 
 #ifdef HOST_VERSION
        if ((cpt & 7) == 0) {
-               //              dump_cs("dist", &mainboard.distance.cs);
                robotsim_dump();
        }
 #endif
@@ -213,9 +212,9 @@ void microb_cs_init(void)
                                 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                               LEFT_ENCODER, IMP_COEF * -1.036);
+                               LEFT_ENCODER, IMP_COEF * -1.011718);
        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                                RIGHT_ENCODER, IMP_COEF * 1.037);
+                                RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -240,8 +239,8 @@ void microb_cs_init(void)
        /* ---- CS angle */
        /* PID */
        pid_init(&mainboard.angle.pid);
-       pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+       pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+       pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
        pid_set_out_shift(&mainboard.angle.pid, 10);
        pid_set_derivate_filter(&mainboard.angle.pid, 4);
 
@@ -261,13 +260,13 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&mainboard.angle.bd);
        bd_set_speed_threshold(&mainboard.angle.bd, 80);
-       bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
+       bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
 
        /* ---- CS distance */
        /* PID */
        pid_init(&mainboard.distance.pid);
-       pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+       pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+       pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
        pid_set_out_shift(&mainboard.distance.pid, 10);
        pid_set_derivate_filter(&mainboard.distance.pid, 6);
 
@@ -287,7 +286,7 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&mainboard.distance.bd);
        bd_set_speed_threshold(&mainboard.distance.bd, 60);
-       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 
 #ifndef HOST_VERSION
        /* ---- CS left_cobroller */
@@ -332,13 +331,13 @@ void microb_cs_init(void)
 #endif /* !HOST_VERSION */
 
        /* set them on !! */
-       mainboard.angle.on = 0;
-       mainboard.distance.on = 0;
+       mainboard.angle.on = 1;
+       mainboard.distance.on = 1;
        mainboard.left_cobroller.on = 1;
        mainboard.right_cobroller.on = 1;
 
-
        scheduler_add_periodical_event_priority(do_cs, NULL,
                                                5000L / SCHEDULER_UNIT,
                                                CS_PRIO);
+
 }