strat db + avoid

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

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 905d533..516f00b 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -126,12 +126,19 @@ static void do_cs(void *dummy)
                 * compensation) */
                position_manage(&mainboard.pos);
        }
-       if (mainboard.flags & DO_BD) {
+       if ((mainboard.flags & DO_BD) && (mainboard.flags & DO_POWER)) {
                bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
                bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 #ifndef HOST_VERSION
                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);
+                       }
+               }
 #endif
        }
 #ifndef HOST_VERSION
@@ -206,9 +213,9 @@ 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);
@@ -226,7 +233,7 @@ void microb_cs_init(void)
                          &mainboard.angle.cs);
        trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
        trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
-       trajectory_set_speed(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
+       trajectory_set_acc(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
        /* distance window, angle window, angle start */
        trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 
@@ -254,7 +261,7 @@ 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 */
@@ -280,7 +287,7 @@ 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 */
@@ -325,8 +332,8 @@ 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;