shovel speed and carry servo optim

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8a15ca9..c6a685b 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,19 +45,17 @@
 #include "main.h"
 #include "actuator.h"
 
 #include "main.h"
 #include "actuator.h"
 

-#define COBROLLER_SPEED 1200
-//#define COBROLLER_SPEED 600
-//#define COBROLLER_SPEED 400
+#define COBROLLER_SPEED 1000

 
 #define SERVO_DOOR_OPEN 300
 #define SERVO_DOOR_CLOSED 530
 #define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295
 
 #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 440//400 // 510
+#define SERVO_CARRY_L_CLOSED 430 //400

 
 #define SERVO_CARRY_R_OPEN 455
 
 #define SERVO_CARRY_R_OPEN 455

-#define SERVO_CARRY_R_CLOSED 310//350 // 250
+#define SERVO_CARRY_R_CLOSED 320 //350

 
 void actuator_init(void);
 
 
 void actuator_init(void);
 

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 42ab78b..b2a8cc0 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,6 +40,7 @@
 #include <rdline.h>
 
 #include "main.h"
 #include <rdline.h>
 
 #include "main.h"

+#include "state.h"

 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100


@@ -84,7 +85,10 @@ void shovel_mid(void)
 
 void shovel_up(void)
 {
 
 void shovel_up(void)
 {

-       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+       if (state_get_cob_count() <= 1)
+               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+       else
+               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);
 }
        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
        cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }