X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=7eb186e59e82705714f633e75019116a78369ead;hp=0ed2f1ac5a5d6de400bffe508db00a598670f8e1;hb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac;hpb=580718729e72aa18b9e247b8647b188ee195eabf

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 0ed2f1a..7eb186e 100644
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -78,9 +78,9 @@ static void do_cs(__attribute__((unused)) void *dummy)
 		ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
 		rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
 		sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
-		if (ls < -2000 || ls > 2000 ||
-		    rs < -2000 || rs > 2000 ||
-		    sh < -2000 || sh > 2000) {
+		if (ls < -3000 || ls > 3000 ||
+		    rs < -3000 || rs > 3000 ||
+		    sh < -3000 || sh > 3000) {
 			printf_P(PSTR("left_spickle %ld "), ls);
 			printf_P(PSTR("right_spickle %ld "), rs);
 			printf_P(PSTR("shovel %ld "), sh);
@@ -196,7 +196,7 @@ void microb_cs_init(void)
 
 	/* quadramp */
 	quadramp_init(&cobboard.shovel.qr);
-	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
 	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 
 	/* CS */