X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=0ed2f1ac5a5d6de400bffe508db00a598670f8e1;hp=a71897057388a5d3a5354bfe0e2765abadad4bd8;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index a718970..0ed2f1a 100644
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -102,8 +102,8 @@ static void do_cs(__attribute__((unused)) void *dummy)
 
 		/* urgent case: stop power on blocking */
 		if (cobboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&cobboard.left_spickle.bd) ||
-			    bd_get(&cobboard.right_spickle.bd) ||
+			if (/* bd_get(&cobboard.left_spickle.bd) || */
+			    /* bd_get(&cobboard.right_spickle.bd) || */
 			    bd_get(&cobboard.shovel.bd)) {
 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 				cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -149,8 +149,8 @@ void microb_cs_init(void)
 	/* ---- CS left_spickle */
 	/* PID */
 	pid_init(&cobboard.left_spickle.pid);
-	pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
@@ -169,8 +169,8 @@ void microb_cs_init(void)
 	/* ---- CS right_spickle */
 	/* PID */
 	pid_init(&cobboard.right_spickle.pid);
-	pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);