git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
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
b8d6e08
..
516f00b
100644
(file)
--- a/
projects/microb2010/mainboard/cs.c
+++ b/
projects/microb2010/mainboard/cs.c
@@
-213,9
+213,9
@@
void microb_cs_init(void)
RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * -1.0
36
);
+ LEFT_ENCODER, IMP_COEF * -1.0
11718
);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * 1.0
37
);
+ RIGHT_ENCODER, IMP_COEF * 1.0
12695
);
#endif
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
#endif
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@
-261,7
+261,7
@@
void microb_cs_init(void)
/* Blocking detection */
bd_init(&mainboard.angle.bd);
bd_set_speed_threshold(&mainboard.angle.bd, 80);
/* 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,
5
0);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000,
2
0);
/* ---- CS distance */
/* PID */
/* ---- CS distance */
/* PID */
@@
-287,7
+287,7
@@
void microb_cs_init(void)
/* Blocking detection */
bd_init(&mainboard.distance.bd);
bd_set_speed_threshold(&mainboard.distance.bd, 60);
/* 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,
5
0);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000,
2
0);
#ifndef HOST_VERSION
/* ---- CS left_cobroller */
#ifndef HOST_VERSION
/* ---- CS left_cobroller */
@@
-332,8
+332,8
@@
void microb_cs_init(void)
#endif /* !HOST_VERSION */
/* set them on !! */
#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;
mainboard.left_cobroller.on = 1;
mainboard.right_cobroller.on = 1;