};
static struct spickle_params spickle = {
- .k1 = 500,
+ .k1 = 1000,
.k2 = 20,
.csb = {
&cobboard.left_spickle,
&cobboard.right_spickle,
},
.pos_deployed = {
- 40000, /* left */
- -40000, /* right */
+ 7000, // 200, /* left */
+ 7000, // 200, /* right */
},
.pos_mid = {
- 20000, /* left */
- -20000, /* right */
+ 25000, /* left */
+ 26000, /* right */
},
.pos_packed = {
- 0, /* left */
- 0, /* right */
+ 55800, /* left */
+ 55800, /* right */
},
};
static void spickle_autopos(void)
{
printf_P(PSTR("spickle autopos..."));
- pwm_ng_set(LEFT_SPICKLE_PWM, -500);
- pwm_ng_set(RIGHT_SPICKLE_PWM, 500);
- wait_ms(1000);
+ pwm_ng_set(LEFT_SPICKLE_PWM, -700);
+ pwm_ng_set(RIGHT_SPICKLE_PWM, -700);
+ wait_ms(2500);
pwm_ng_set(LEFT_SPICKLE_PWM, 0);
pwm_ng_set(RIGHT_SPICKLE_PWM, 0);
encoders_spi_set_value(LEFT_SPICKLE_ENCODER, 0);