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cobboard: better actions + i2c
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
cs.c
diff --git
a/projects/microb2010/cobboard/cs.c
b/projects/microb2010/cobboard/cs.c
index
0ed2f1a
..
7eb186e
100644
(file)
--- a/
projects/microb2010/cobboard/cs.c
+++ b/
projects/microb2010/cobboard/cs.c
@@
-78,9
+78,9
@@
static void do_cs(__attribute__((unused)) void *dummy)
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);
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 > 2
000 ||
- rs < -
2000 || rs > 2
000 ||
- sh < -
2000 || sh > 2
000) {
+ if (ls < -
3000 || ls > 3
000 ||
+ rs < -
3000 || rs > 3
000 ||
+ sh < -
3000 || sh > 3
000) {
printf_P(PSTR("left_spickle %ld "), ls);
printf_P(PSTR("right_spickle %ld "), rs);
printf_P(PSTR("shovel %ld "), sh);
printf_P(PSTR("left_spickle %ld "), ls);
printf_P(PSTR("right_spickle %ld "), rs);
printf_P(PSTR("shovel %ld "), sh);
@@
-196,7
+196,7
@@
void microb_cs_init(void)
/* quadramp */
quadramp_init(&cobboard.shovel.qr);
/* quadramp */
quadramp_init(&cobboard.shovel.qr);
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2
000, 20
00); /* set speed */
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2
500, 25
00); /* set speed */
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
/* CS */
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
/* CS */