X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fspickle.c;h=058a7b71ce74fe125e8202f656f6005dac84c352;hp=741c103155e48826dbb383c573ca6b2f363b19e7;hb=ad6e9ce0b9c0186038fefec49f80a15d9b76e178;hpb=d23a4fdeed4e90d004d407942b230c188d012465

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index 741c103..058a7b7 100644
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -66,7 +66,7 @@ static struct spickle_params spickle = {
 	.sk1 = 1000,
 	.sk2 = 20,
 	.wk1 = 200,
-	.wk2 = 20,
+	.wk2 = 5,
 	.csb = {
 		&cobboard.left_spickle,
 		&cobboard.right_spickle,
@@ -203,6 +203,21 @@ static uint8_t spickle_is_at_pos(uint8_t side, int32_t pos)
 	return 0;
 }
 
+static void spickle_set_qr(uint8_t side)
+{
+	struct quadramp_filter *qr;
+
+	if (side == I2C_LEFT_SIDE)
+		qr = &cobboard.left_spickle.qr;
+	else
+		qr = &cobboard.right_spickle.qr;
+
+	if (state_spicklemode_weak(side))
+		quadramp_set_1st_order_vars(qr, 700, 700); /* set speed */
+	else
+		quadramp_set_1st_order_vars(qr, 3000, 3000); /* set speed */
+}
+
 uint8_t spickle_is_packed(uint8_t side)
 {
 	return spickle_is_at_pos(side, spickle.pos_packed[side]);
@@ -215,16 +230,19 @@ uint8_t spickle_is_deployed(uint8_t side)
 
 void spickle_deploy(uint8_t side)
 {
+	spickle_set_qr(side);
 	cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);
 }
 
 void spickle_mid(uint8_t side)
 {
+	spickle_set_qr(side);
 	cs_set_consign(&spickle.csb[side]->cs, spickle.pos_mid[side]);
 }
 
 void spickle_pack(uint8_t side)
 {
+	spickle_set_qr(side);
 	cs_set_consign(&spickle.csb[side]->cs, spickle.pos_packed[side]);
 }