From: Olivier Matz Date: Thu, 29 Apr 2010 13:38:59 +0000 (+0200) Subject: serpi mod roll speed; servo pos; ball pos X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=f0df2e96cee159913b3be6c9b3e728299ed205bd serpi mod roll speed; servo pos; ball pos --- diff --git a/modules/comm/spi/spi_host.c b/modules/comm/spi/spi_host.c index 9ccf87d..0782acd 100644 --- a/modules/comm/spi/spi_host.c +++ b/modules/comm/spi/spi_host.c @@ -35,7 +35,7 @@ static volatile uint8_t g_ss_number; static volatile spi_mode_t g_spi_mode; static volatile uint8_t g_slave_selected; -static volatile uint8_t g_spi_order; +/*static*/ volatile uint8_t g_spi_order; static volatile spi_format_t g_spi_format; static volatile spi_mode_t g_spi_mode; static volatile spi_clk_rate_t g_spi_clk_rate; diff --git a/modules/debug/diagnostic/Makefile b/modules/debug/diagnostic/Makefile index d4fdf06..b6eb78a 100644 --- a/modules/debug/diagnostic/Makefile +++ b/modules/debug/diagnostic/Makefile @@ -2,9 +2,9 @@ TARGET = diagnostic # List C source files here. (C dependencies are automatically generated.) ifeq ($(HOST),avr) -SRC = stack_space.c int_show.c stackdump.c +SRC = stack_space.c int_show.c else -SRC = diag_host.c stackdump.c +SRC = diag_host.c endif include $(AVERSIVE_DIR)/mk/aversive_module.mk diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c index e3afa27..c71def0 100644 --- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c +++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c @@ -191,7 +191,7 @@ void trajectory_stop(struct trajectory *traj) UPDATE_A | UPDATE_D | RESET_D | RESET_A); } -#include +//#include /** set relative angle and distance consign to 0, and break any * deceleration ramp in quadramp filter */ diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c index 8d2355d..8a15ca9 100644 --- a/projects/microb2010/cobboard/actuator.c +++ b/projects/microb2010/cobboard/actuator.c @@ -45,7 +45,8 @@ #include "main.h" #include "actuator.h" -#define COBROLLER_SPEED 600 +#define COBROLLER_SPEED 1200 +//#define COBROLLER_SPEED 600 //#define COBROLLER_SPEED 400 #define SERVO_DOOR_OPEN 300 @@ -53,10 +54,10 @@ #define SERVO_DOOR_BLOCK 530 #define SERVO_CARRY_L_OPEN 295 -#define SERVO_CARRY_L_CLOSED 400 // 510 +#define SERVO_CARRY_L_CLOSED 440//400 // 510 #define SERVO_CARRY_R_OPEN 455 -#define SERVO_CARRY_R_CLOSED 350 // 250 +#define SERVO_CARRY_R_CLOSED 310//350 // 250 void actuator_init(void); diff --git a/projects/microb2010/mainboard/.config b/projects/microb2010/mainboard/.config index dc35470..23029bc 100644 --- a/projects/microb2010/mainboard/.config +++ b/projects/microb2010/mainboard/.config @@ -1,5 +1,5 @@ # -# Automatically generated by make menuconfig: don't edit +# Automatically generated make config: don't edit # # @@ -74,6 +74,10 @@ CONFIG_FORMAT_BINARY=y # # Base modules # + +# +# Enable math library in generation options to see all modules +# CONFIG_MODULE_CIRBUF=y # CONFIG_MODULE_CIRBUF_LARGE is not set CONFIG_MODULE_FIXED_POINT=y @@ -94,6 +98,10 @@ CONFIG_MODULE_TIME=y # # Communication modules # + +# +# uart needs circular buffer, mf2 client may need scheduler +# CONFIG_MODULE_UART=y # CONFIG_MODULE_UART_9BITS is not set CONFIG_MODULE_UART_CREATE_CONFIG=y @@ -178,6 +186,10 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y # Control system modules # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y + +# +# Filters +# CONFIG_MODULE_PID=y # CONFIG_MODULE_PID_CREATE_CONFIG is not set # CONFIG_MODULE_RAMP is not set @@ -188,12 +200,20 @@ CONFIG_MODULE_QUADRAMP=y # # Radio devices # + +# +# Some radio devices require SPI to be activated +# # CONFIG_MODULE_CC2420 is not set # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set # # Crypto modules # + +# +# Crypto modules depend on utils module +# # CONFIG_MODULE_AES is not set # CONFIG_MODULE_AES_CTR is not set # CONFIG_MODULE_MD5 is not set @@ -203,12 +223,20 @@ CONFIG_MODULE_QUADRAMP=y # # Encodings modules # + +# +# Encoding modules depend on utils module +# # CONFIG_MODULE_BASE64 is not set # CONFIG_MODULE_HAMMING is not set # # Debug modules # + +# +# Debug modules depend on utils module +# CONFIG_MODULE_DIAGNOSTIC=y CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y CONFIG_MODULE_ERROR=y diff --git a/projects/microb2010/mainboard/actuator.c b/projects/microb2010/mainboard/actuator.c index ed86f33..9ed1d63 100644 --- a/projects/microb2010/mainboard/actuator.c +++ b/projects/microb2010/mainboard/actuator.c @@ -73,8 +73,8 @@ void pwm_set_and_save(void *pwm, int32_t val) void support_balls_deploy(void) { #ifndef HOST_VERSION - pwm_ng_set(SUPPORT_BALLS_R_SERVO, 560); - pwm_ng_set(SUPPORT_BALLS_L_SERVO, 155); + pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550); + pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165); #endif } diff --git a/projects/microb2010/tests/static_beacon/.config b/projects/microb2010/tests/static_beacon/.config index 1d00663..8c61239 100644 --- a/projects/microb2010/tests/static_beacon/.config +++ b/projects/microb2010/tests/static_beacon/.config @@ -1,5 +1,5 @@ # -# Automatically generated make config: don't edit +# Automatically generated by make menuconfig: don't edit # # @@ -74,10 +74,6 @@ CONFIG_FORMAT_BINARY=y # # Base modules # - -# -# Enable math library in generation options to see all modules -# CONFIG_MODULE_CIRBUF=y # CONFIG_MODULE_CIRBUF_LARGE is not set # CONFIG_MODULE_FIXED_POINT is not set @@ -98,10 +94,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y # # Communication modules # - -# -# uart needs circular buffer, mf2 client may need scheduler -# CONFIG_MODULE_UART=y # CONFIG_MODULE_UART_9BITS is not set CONFIG_MODULE_UART_CREATE_CONFIG=y @@ -186,10 +178,6 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # Control system modules # # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set - -# -# Filters -# # CONFIG_MODULE_PID is not set # CONFIG_MODULE_PID_CREATE_CONFIG is not set # CONFIG_MODULE_RAMP is not set @@ -200,20 +188,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # # Radio devices # - -# -# Some radio devices require SPI to be activated -# # CONFIG_MODULE_CC2420 is not set # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set # # Crypto modules # - -# -# Crypto modules depend on utils module -# # CONFIG_MODULE_AES is not set # CONFIG_MODULE_AES_CTR is not set # CONFIG_MODULE_MD5 is not set @@ -223,20 +203,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # # Encodings modules # - -# -# Encoding modules depend on utils module -# # CONFIG_MODULE_BASE64 is not set # CONFIG_MODULE_HAMMING is not set # # Debug modules # - -# -# Debug modules depend on utils module -# # CONFIG_MODULE_DIAGNOSTIC is not set # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set # CONFIG_MODULE_ERROR is not set