fix kickstand

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index 24226e1..3f37356 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -727,7 +727,7 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
        spickle_dump_params();
 }
 
        spickle_dump_params();
 }
 

-prog_char str_spickle_params2_arg0[] = "spickle_params2";
+prog_char str_spickle_params2_arg0[] = "spickle_params";

 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
 prog_char str_spickle_params2_arg1[] = "wcoef#scoef";
 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
 prog_char str_spickle_params2_arg1[] = "wcoef#scoef";

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 71139ab..42f734c 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -1,6 +1,6 @@
-/*  
+/*

  *  Copyright Droids Corporation (2010)
  *  Copyright Droids Corporation (2010)

- * 
+ *

  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or


@@ -46,6 +46,7 @@
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
 #define SHOVEL_UP   11000
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
 #define SHOVEL_UP   11000

+#define SHOVEL_KICKSTAND 12800

 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;
 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;


@@ -146,7 +147,7 @@ void shovel_kickstand(void)
 {
        quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
 {
        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_UP);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND);

 }
 
 uint8_t shovel_is_up(void)
 }
 
 uint8_t shovel_is_up(void)

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index 741c103..de53886 100644 (file)
--- 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,
        .sk1 = 1000,
        .sk2 = 20,
        .wk1 = 200,

-       .wk2 = 20,
+       .wk2 = 5,

        .csb = {
                &cobboard.left_spickle,
                &cobboard.right_spickle,
        .csb = {
                &cobboard.left_spickle,
                &cobboard.right_spickle,