+ printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+ int32_t diff;
+ diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+ if (diff < 0)
+ diff = -diff;
+ if (diff < 500)
+ return 1;
+ return 0;
+}
+
+void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
+{
+ shovel_k1 = k1;
+ shovel_k2 = k2;
+}
+
+uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
+{
+ *k1 = shovel_k1;
+ *k2 = shovel_k2;
+ return shovel_current_limit;
+}
+
+void shovel_current_limit_enable(uint8_t enable)
+{
+ shovel_current_limit = enable;
+}
+
+/* Set CS command for shovel. Called by CS manager. */
+void shovel_set(void *mot, int32_t cmd)
+{
+ static int32_t oldpos;
+ int32_t pos, maxcmd, speed;
+
+ pos = encoders_spi_get_value(SHOVEL_ENCODER);
+ if (shovel_current_limit) {
+ speed = pos - oldpos;
+ if (speed > 0 && cmd < 0)
+ maxcmd = shovel_k1;
+ else if (speed < 0 && cmd > 0)
+ maxcmd = shovel_k1;
+ else {
+ speed = ABS(speed);
+ maxcmd = shovel_k1 + shovel_k2 * speed;
+ }
+ if (cmd > maxcmd)
+ cmd = maxcmd;
+ else if (cmd < -maxcmd)
+ cmd = -maxcmd;
+ }
+
+ pwm_ng_set(mot, cmd);
+ oldpos = pos;
+}
+
+void shovel_down(void)
+{
+ shovel_current_limit_enable(0);
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+ quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+ cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+ shovel_current_limit_enable(0);
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+ quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+ cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+ shovel_current_limit_enable(0);
+ if (state_get_cob_count() <= 1)
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 700, 2500);
+ else
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+ quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
+ cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
+void shovel_kickstand_up(void)
+{
+ shovel_set_current_limit_coefs(1000, 20);
+ shovel_current_limit_enable(1);
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
+ quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
+ cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_UP);
+}
+
+void shovel_kickstand_down(void)
+{
+ shovel_set_current_limit_coefs(500, 0);
+ shovel_current_limit_enable(1);
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
+ quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
+ cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_DOWN);
+}
+
+uint8_t shovel_is_up(void)
+{
+ return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+ return shovel_is_at_pos(SHOVEL_DOWN);
+}
+
+uint8_t shovel_is_mid(void)
+{
+ return shovel_is_at_pos(SHOVEL_MID);