X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=262f73cc6a96d0623f36e4e5934021e260e3e10e;hp=f6edc88529a668d1cfb649cb5c3736b7afece9fe;hb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e;hpb=71deb6e552fcd65c853b35c5206ee47b735f2ff5

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index f6edc88..262f73c 100644
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -73,14 +73,15 @@ static void do_cs(void *dummy)
 			cs_manage(&ballboard.forkrot.cs);
 	}
 	if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
-		bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
 		bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
 		bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+		bd_manage_from_speed_cmd(&ballboard.roller.bd,
+					 cs_get_filtered_feedback(&ballboard.roller.cs),
+					 cs_get_out(&ballboard.roller.cs));
 
 		/* urgent case: stop power on blocking */
 		if (ballboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&ballboard.roller.bd) ||
-			    bd_get(&ballboard.forktrans.bd) ||
+			if (bd_get(&ballboard.forktrans.bd) ||
 			    bd_get(&ballboard.forkrot.bd)) {
 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 				ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -137,8 +138,9 @@ void microb_cs_init(void)
 
 	/* Blocking detection */
 	bd_init(&ballboard.roller.bd);
-	bd_set_speed_threshold(&ballboard.roller.bd, 150);
-	bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
+	bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
+	bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
 	/* ---- CS forktrans */
 	/* PID */
@@ -176,7 +178,7 @@ void microb_cs_init(void)
 
 	/* QUADRAMP */
 	quadramp_init(&ballboard.forkrot.qr);
-	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
+	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
 	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 
 	/* CS */
@@ -195,7 +197,7 @@ void microb_cs_init(void)
 	/* set them on !! */
 	ballboard.roller.on = 1;
 	ballboard.forktrans.on = 1;
-	ballboard.forkrot.on = 1;
+	ballboard.forkrot.on = 0;
 
 
 	scheduler_add_periodical_event_priority(do_cs, NULL,