#define SHOVEL_DOWN 100
#define SHOVEL_MID 4500
#define SHOVEL_UP 11300
-#define SHOVEL_KICKSTAND_UP 12800
-#define SHOVEL_KICKSTAND_DOWN 10000
+#define SHOVEL_KICKSTAND_UP 13400
+#define SHOVEL_KICKSTAND_DOWN 10400
static int32_t shovel_k1 = 1000;
static int32_t shovel_k2 = 20;
{
shovel_current_limit_enable(0);
if (state_get_cob_count() <= 1)
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 700, 2500);
else
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+ 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);
}
return shovel_is_at_pos(SHOVEL_DOWN);
}
+uint8_t shovel_is_mid(void)
+{
+ return shovel_is_at_pos(SHOVEL_MID);
+}
+
void shovel_init(void)
{
shovel_autopos();