optim cobboard

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8dfe8bb..8d2355d 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,12 +45,12 @@
 #include "main.h"
 #include "actuator.h"
 
 #include "main.h"
 #include "actuator.h"
 

-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 600

 //#define COBROLLER_SPEED 400
 
 //#define COBROLLER_SPEED 400
 

-#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 500
-#define SERVO_DOOR_BLOCK 500
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530

 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510


@@ -113,5 +113,6 @@ void cobroller_reverse(uint8_t side)
 
 void actuator_init(void)
 {
 
 void actuator_init(void)
 {

-
+       servo_door_open();
+       servo_carry_open();

 }
 }

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 215fb5c..d01a92e 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -258,13 +258,13 @@ int main(void)
 
        printf_P(PSTR("cobboard start\r\n"));
 
 
        printf_P(PSTR("cobboard start\r\n"));
 

+       /* actuators */
+       actuator_init();
+

        /* spickle, shovel */
        spickle_init();
        shovel_init();
 
        /* spickle, shovel */
        spickle_init();
        shovel_init();
 

-       /* actuators */
-       actuator_init();
-

        state_init();
 
        printf_P(PSTR("\r\n"));
        state_init();
 
        printf_P(PSTR("\r\n"));

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index abf0c42..42ab78b 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -43,8 +43,8 @@
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100

-#define SHOVEL_MID  4900
-#define SHOVEL_UP   10000
+#define SHOVEL_MID  4500
+#define SHOVEL_UP   11000

 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)


@@ -70,19 +70,22 @@ static uint8_t shovel_is_at_pos(int32_t pos)
 
 void shovel_down(void)
 {
 
 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_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_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
        cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
 }
 
 void shovel_up(void)
 {

-       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 20);
+       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);
 }
 
        cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }
 

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index df0e4c6..092d0de 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -118,7 +118,7 @@ static void spickle_prepare(uint8_t side)
        if (cob_count >= 5)
                spickle_pack(side);
        else if (is_deployed(side) && !is_autoharvest(side))
        if (cob_count >= 5)
                spickle_pack(side);
        else if (is_deployed(side) && !is_autoharvest(side))

-               spickle_mid(side);
+               spickle_deploy(side); /*spickle_mid(side);*/

        else if (is_deployed(side) && is_autoharvest(side))
                spickle_deploy(side);
        else
        else if (is_deployed(side) && is_autoharvest(side))
                spickle_deploy(side);
        else


@@ -206,7 +206,7 @@ static void state_do_harvest(uint8_t side)
        /* eat the cob */
        spickle_pack(side);
 
        /* eat the cob */
        spickle_pack(side);
 

-       time_wait_ms(250);
+       time_wait_ms(200);

        cobroller_on(side);
 
        /* check that cob is correctly in place */
        cobroller_on(side);
 
        /* check that cob is correctly in place */