#include "main.h"
#include "actuator.h"
#include "spickle.h"
+#include "shovel.h"
/* called every 5 ms */
static void do_cs(__attribute__((unused)) void *dummy)
pid_set_out_shift(&cobboard.left_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
+ /* quadramp */
+ quadramp_init(&cobboard.left_spickle.qr);
+ quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 3000, 3000); /* set speed */
+ quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 0, 0); /* set accel */
+
/* CS */
cs_init(&cobboard.left_spickle.cs);
+ cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
pid_set_out_shift(&cobboard.right_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
+ /* quadramp */
+ quadramp_init(&cobboard.right_spickle.qr);
+ quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set speed */
+ quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set accel */
+
/* CS */
cs_init(&cobboard.right_spickle.cs);
+ cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
cs_init(&cobboard.shovel.cs);
cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
- cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
+ cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
cs_set_consign(&cobboard.shovel.cs, 0);