X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=9884bcfbd969ee663255aa3fb2a31e8549f8632c;hp=b8d6e08fa5232325333fcbbccf2f2b595bc5a9a6;hb=814b38b326d0b5bf54a26c5eaaa3d94e5c4a9753;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index b8d6e08..9884bcf 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -213,9 +213,9 @@ void microb_cs_init(void)
 				 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
 	rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				LEFT_ENCODER, IMP_COEF * -1.036);
+				LEFT_ENCODER, IMP_COEF * -1.011718);
 	rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				 RIGHT_ENCODER, IMP_COEF * 1.037);
+				 RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
 	/* rs will use external encoders */
 	rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -224,7 +224,7 @@ void microb_cs_init(void)
 	position_init(&mainboard.pos);
 	position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 	position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+	//	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 	position_use_ext(&mainboard.pos);
 
 	/* TRAJECTORY MANAGER */
@@ -240,8 +240,8 @@ void microb_cs_init(void)
 	/* ---- CS angle */
 	/* PID */
 	pid_init(&mainboard.angle.pid);
-	pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
-	pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+	pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+	pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
 	pid_set_out_shift(&mainboard.angle.pid, 10);
 	pid_set_derivate_filter(&mainboard.angle.pid, 4);
 
@@ -261,13 +261,13 @@ void microb_cs_init(void)
 	/* Blocking detection */
 	bd_init(&mainboard.angle.bd);
 	bd_set_speed_threshold(&mainboard.angle.bd, 80);
-	bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
+	bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
 
 	/* ---- CS distance */
 	/* PID */
 	pid_init(&mainboard.distance.pid);
-	pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
-	pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+	pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+	pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
 	pid_set_out_shift(&mainboard.distance.pid, 10);
 	pid_set_derivate_filter(&mainboard.distance.pid, 6);
 
@@ -287,7 +287,7 @@ void microb_cs_init(void)
 	/* Blocking detection */
 	bd_init(&mainboard.distance.bd);
 	bd_set_speed_threshold(&mainboard.distance.bd, 60);
-	bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+	bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 
 #ifndef HOST_VERSION
 	/* ---- CS left_cobroller */
@@ -332,8 +332,8 @@ void microb_cs_init(void)
 #endif /* !HOST_VERSION */
 
 	/* set them on !! */
-	mainboard.angle.on = 0;
-	mainboard.distance.on = 0;
+	mainboard.angle.on = 1;
+	mainboard.distance.on = 1;
 	mainboard.left_cobroller.on = 1;
 	mainboard.right_cobroller.on = 1;