X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=b2a8cc0501a66f7adad1b015851385700510c217;hp=6d71e5876834f256d7a16fcc3c2cbbc1472874bf;hb=ecbe3387a90b1ca0e8a8584af631ae2d1f9c61d8;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 6d71e58..b2a8cc0 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,8 +40,13 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "state.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)
 {
@@ -64,6 +69,30 @@ static uint8_t shovel_is_at_pos(int32_t pos)
 	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)
+{
+	if (state_get_cob_count() <= 1)
+		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+	else
+		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);