X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=42ab78bce33c89b094357edf05064b5efd41a471;hp=39ce2bc33de99dc4e185c7e17844196d44861ee6;hb=5d21466eb434aa44eeb334a19668c58ffef5665f;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 39ce2bc..42ab78b 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,14 +40,63 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "shovel.h"
+
+#define SHOVEL_DOWN 100
+#define SHOVEL_MID  4500
+#define SHOVEL_UP   11000
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
+	printf_P(PSTR("shovel autopos..."));
 	pwm_ng_set(SHOVEL_PWM, -500);
 	wait_ms(1000);
 	pwm_ng_set(LEFT_SPICKLE_PWM, 0);
 	encoders_spi_set_value(SHOVEL_ENCODER, 0);
+	printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+	int32_t diff;
+	diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+	if (diff < 0)
+		diff = -diff;
+	if (diff < 500)
+		return 1;
+	return 0;
+}
+
+void shovel_down(void)
+{
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+	cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+	cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
+	cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
+uint8_t shovel_is_up(void)
+{
+	return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+	return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
 void shovel_init(void)