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);
/* 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 */
/* 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 */
#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;