add climb fct

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

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index b8d6e08..9884bcf 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,
-                               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);
@@ -224,7 +224,7 @@ void microb_cs_init(void)
        position_init(&mainboard.pos);
        position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
        position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-       position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+       //      position_set_centrifugal_coef(&mainboard.pos, 0.000016);
        position_use_ext(&mainboard.pos);
 
        /* TRAJECTORY MANAGER */
@@ -240,8 +240,8 @@ 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 +261,13 @@ 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 +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 */
@@ -332,8 +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;