rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * 1.0015);
+ LEFT_ENCODER, IMP_COEF * -1.00);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * -1.006);
+ RIGHT_ENCODER, IMP_COEF * 1.00);
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
+ pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
/* ---- CS left_cobroller */
/* PID */
pid_init(&mainboard.left_cobroller.pid);
- pid_set_gains(&mainboard.left_cobroller.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.left_cobroller.pid, 0, 2000, 4095);
- pid_set_out_shift(&mainboard.left_cobroller.pid, 10);
+ pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
+ pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
+ pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
- /* QUADRAMP */
- quadramp_init(&mainboard.left_cobroller.qr);
- quadramp_set_1st_order_vars(&mainboard.left_cobroller.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&mainboard.left_cobroller.qr, 17, 17); /* set accel */
-
/* CS */
cs_init(&mainboard.left_cobroller.cs);
- cs_set_consign_filter(&mainboard.left_cobroller.cs, quadramp_do_filter, &mainboard.left_cobroller.qr);
cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
/* ---- CS right_cobroller */
/* PID */
pid_init(&mainboard.right_cobroller.pid);
- pid_set_gains(&mainboard.right_cobroller.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.right_cobroller.pid, 0, 2000, 4095);
- pid_set_out_shift(&mainboard.right_cobroller.pid, 10);
+ pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
+ pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
+ pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
- /* QUADRAMP */
- quadramp_init(&mainboard.right_cobroller.qr);
- quadramp_set_1st_order_vars(&mainboard.right_cobroller.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&mainboard.right_cobroller.qr, 17, 17); /* set accel */
-
/* CS */
cs_init(&mainboard.right_cobroller.cs);
- cs_set_consign_filter(&mainboard.right_cobroller.cs, quadramp_do_filter, &mainboard.right_cobroller.qr);
cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
/* set them on !! */
- mainboard.angle.on = 1;
- mainboard.distance.on = 1;
+ mainboard.angle.on = 0;
+ mainboard.distance.on = 0;
mainboard.left_cobroller.on = 1;
- mainboard.right_cobroller.on = 1;
+ mainboard.right_cobroller.on = 0;
scheduler_add_periodical_event_priority(do_cs, NULL,