X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=e06638d1d060a60147be0ef1acabcae551fd9bef;hp=42f734cd61ba1c589d8c579494bcf476aa987d31;hb=04f1061f2c5959ce87f632591576097f540dfc14;hpb=d6922ca35b126696fc34cfb7714acfa14edd1c4a

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 42f734c..e06638d 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -45,8 +45,9 @@
 
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
-#define SHOVEL_UP   11000
-#define SHOVEL_KICKSTAND 12800
+#define SHOVEL_UP   11300
+#define SHOVEL_KICKSTAND_UP   13400
+#define SHOVEL_KICKSTAND_DOWN 10400
 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;
@@ -121,6 +122,7 @@ void shovel_set(void *mot, int32_t cmd)
 
 void shovel_down(void)
 {
+	shovel_current_limit_enable(0);
 	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);
@@ -128,6 +130,7 @@ void shovel_down(void)
 
 void shovel_mid(void)
 {
+	shovel_current_limit_enable(0);
 	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);
@@ -135,19 +138,31 @@ void shovel_mid(void)
 
 void shovel_up(void)
 {
+	shovel_current_limit_enable(0);
 	if (state_get_cob_count() <= 1)
-		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 700, 2500);
 	else
-		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
 	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
 	cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }
 
-void shovel_kickstand(void)
+void shovel_kickstand_up(void)
+{
+	shovel_set_current_limit_coefs(1000, 20);
+	shovel_current_limit_enable(1);
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
+	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
+	cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_UP);
+}
+
+void shovel_kickstand_down(void)
 {
+	shovel_set_current_limit_coefs(500, 0);
+	shovel_current_limit_enable(1);
 	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
 	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
-	cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND);
+	cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_DOWN);
 }
 
 uint8_t shovel_is_up(void)
@@ -160,6 +175,11 @@ uint8_t shovel_is_down(void)
 	return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
+uint8_t shovel_is_mid(void)
+{
+	return shovel_is_at_pos(SHOVEL_MID);
+}
+
 void shovel_init(void)
 {
 	shovel_autopos();