X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=ed5c0ff03eccc54a82c1b8dda4584b954a3fa6d2;hp=cf122e60188d486fec51a9b5a1577d17e50ca588;hb=063af91cd38fceba6cbcf3a9b8abd4c48684d990;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index cf122e6..ed5c0ff 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);
@@ -122,8 +123,14 @@ void microb_cs_init(void)
 	pid_set_out_shift(&ballboard.roller.pid, 6);
 	pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+	/* QUADRAMP (used as a ramp filter) */
+	quadramp_init(&ballboard.roller.qr);
+	quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+	quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
 	/* CS */
 	cs_init(&ballboard.roller.cs);
+	cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
 	cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 	cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 	cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
@@ -131,8 +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, 1000000, 20);
 
 	/* ---- CS forktrans */
 	/* PID */