2 * Copyright Droids Corporation (2010)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
30 #include <encoders_spi.h>
33 #include <scheduler.h>
34 #include <clock_time.h>
38 #include <control_system_manager.h>
39 #include <blocking_detection_manager.h>
46 #define SHOVEL_DOWN 100
47 #define SHOVEL_MID 4500
48 #define SHOVEL_UP 11000
50 /* init spickle position at beginning */
51 static void shovel_autopos(void)
53 printf_P(PSTR("shovel autopos..."));
54 pwm_ng_set(SHOVEL_PWM, -500);
56 pwm_ng_set(LEFT_SPICKLE_PWM, 0);
57 encoders_spi_set_value(SHOVEL_ENCODER, 0);
58 printf_P(PSTR("ok\r\n"));
61 static uint8_t shovel_is_at_pos(int32_t pos)
64 diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
72 void shovel_down(void)
74 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
75 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
76 cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
81 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
82 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
83 cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
88 if (state_get_cob_count() <= 1)
89 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
91 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
92 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
93 cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
96 uint8_t shovel_is_up(void)
98 return shovel_is_at_pos(SHOVEL_UP);
101 uint8_t shovel_is_down(void)
103 return shovel_is_at_pos(SHOVEL_DOWN);
106 void shovel_init(void)
109 cobboard.shovel.on = 1;