X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=7eb186e59e82705714f633e75019116a78369ead;hp=f9c0b7da6ddaa433beba7eb13a77899879dd69b8;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=0c4732c1e255ea56aa766b772dfdb6be49620830

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index f9c0b7d..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);
@@ -95,10 +95,20 @@ static void do_cs(__attribute__((unused)) void *dummy)
 	}
 #endif
 
-	if (cobboard.flags & DO_BD) {
+	if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
 		bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
 		bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
 		bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
+
+		/* urgent case: stop power on blocking */
+		if (cobboard.flags & DO_ERRBLOCKING) {
+			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);
+			}
+		}
 	}
 	if (cobboard.flags & DO_POWER)
 		BRAKE_OFF();
@@ -139,8 +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);
 
@@ -154,13 +164,13 @@ void microb_cs_init(void)
 	/* Blocking detection */
 	bd_init(&cobboard.left_spickle.bd);
 	bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
-	bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
+	bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
 
 	/* ---- 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);
 
@@ -174,7 +184,7 @@ void microb_cs_init(void)
 	/* Blocking detection */
 	bd_init(&cobboard.right_spickle.bd);
 	bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
-	bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
+	bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
 
 	/* ---- CS shovel */
 	/* PID */
@@ -186,7 +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 */
@@ -200,7 +210,7 @@ void microb_cs_init(void)
 	/* Blocking detection */
 	bd_init(&cobboard.shovel.bd);
 	bd_set_speed_threshold(&cobboard.shovel.bd, 150);
-	bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
+	bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
 
 	/* set them on (or not) !! */
 	cobboard.left_spickle.on = 0;