git.droids-corp.org
/
aversive.git
/ commitdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
| commitdiff |
tree
raw
|
patch
|
inline
| side by side (from parent 1:
d776dc0
)
optim cobboard
author
zer0
<zer0@carbon.local>
Tue, 27 Apr 2010 22:03:54 +0000
(
00:03
+0200)
committer
zer0
<zer0@carbon.local>
Tue, 27 Apr 2010 22:03:54 +0000
(
00:03
+0200)
projects/microb2010/cobboard/actuator.c
patch
|
blob
|
history
projects/microb2010/cobboard/main.c
patch
|
blob
|
history
projects/microb2010/cobboard/shovel.c
patch
|
blob
|
history
projects/microb2010/cobboard/state.c
patch
|
blob
|
history
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
8
00
+#define COBROLLER_SPEED
6
00
//#define COBROLLER_SPEED 400
//#define COBROLLER_SPEED 400
-#define SERVO_DOOR_OPEN
26
0
-#define SERVO_DOOR_CLOSED 5
0
0
-#define SERVO_DOOR_BLOCK 5
0
0
+#define SERVO_DOOR_OPEN
30
0
+#define SERVO_DOOR_CLOSED 5
3
0
+#define SERVO_DOOR_BLOCK 5
3
0
#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 4
9
00
-#define SHOVEL_UP 1
0
000
+#define SHOVEL_MID 4
5
00
+#define SHOVEL_UP 1
1
000
/* 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(2
5
0);
+ time_wait_ms(2
0
0);
cobroller_on(side);
/* check that cob is correctly in place */
cobroller_on(side);
/* check that cob is correctly in place */