ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
- if (ls < -2000 || ls > 2000 ||
- rs < -2000 || rs > 2000 ||
- sh < -2000 || sh > 2000) {
+ if (ls < -3000 || ls > 3000 ||
+ rs < -3000 || rs > 3000 ||
+ sh < -3000 || sh > 3000) {
printf_P(PSTR("left_spickle %ld "), ls);
printf_P(PSTR("right_spickle %ld "), rs);
printf_P(PSTR("shovel %ld "), sh);
}
#endif
- if (cobboard.flags & DO_BD) {
+ if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
+
+ /* urgent case: stop power on blocking */
+ if (cobboard.flags & DO_ERRBLOCKING) {
+ if (/* bd_get(&cobboard.left_spickle.bd) || */
+ /* bd_get(&cobboard.right_spickle.bd) || */
+ bd_get(&cobboard.shovel.bd)) {
+ printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
+ cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
+ }
+ }
}
if (cobboard.flags & DO_POWER)
BRAKE_OFF();
/* ---- CS left_spickle */
/* PID */
pid_init(&cobboard.left_spickle.pid);
- pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
- pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
+ pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
pid_set_out_shift(&cobboard.left_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
/* Blocking detection */
bd_init(&cobboard.left_spickle.bd);
bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
- bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 200);
/* ---- CS right_spickle */
/* PID */
pid_init(&cobboard.right_spickle.pid);
- pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
- pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+ pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
pid_set_out_shift(&cobboard.right_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
/* Blocking detection */
bd_init(&cobboard.right_spickle.bd);
bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
- bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 200);
/* ---- CS shovel */
/* PID */
/* quadramp */
quadramp_init(&cobboard.shovel.qr);
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
/* CS */
/* Blocking detection */
bd_init(&cobboard.shovel.bd);
bd_set_speed_threshold(&cobboard.shovel.bd, 150);
- bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 200);
/* set them on (or not) !! */
cobboard.left_spickle.on = 0;