.sk1 = 1000,
.sk2 = 20,
.wk1 = 200,
- .wk2 = 20,
+ .wk2 = 5,
.csb = {
&cobboard.left_spickle,
&cobboard.right_spickle,
return 0;
}
+static void spickle_set_qr(uint8_t side)
+{
+ struct quadramp_filter *qr;
+
+ if (side == I2C_LEFT_SIDE)
+ qr = &cobboard.left_spickle.qr;
+ else
+ qr = &cobboard.right_spickle.qr;
+
+ if (state_spicklemode_weak(side))
+ quadramp_set_1st_order_vars(qr, 700, 700); /* set speed */
+ else
+ quadramp_set_1st_order_vars(qr, 3000, 3000); /* set speed */
+}
+
uint8_t spickle_is_packed(uint8_t side)
{
return spickle_is_at_pos(side, spickle.pos_packed[side]);
void spickle_deploy(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);
}
void spickle_mid(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_mid[side]);
}
void spickle_pack(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_packed[side]);
}