X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=8714367decc766ba438a7a2b1ce722e413a83a20;hb=e6e4582229cd4ed8ffe73bdfbae79d236129df3b;hp=71139ab7ad78fab6357f6e59843c54d0e60d6071;hpb=d9b4e922ce1253224adb937d65c8c2e7cd5cfe87;p=aversive.git

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 71139ab..8714367 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2010)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -45,7 +45,9 @@
 
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
-#define SHOVEL_UP   11000
+#define SHOVEL_UP   11300
+#define SHOVEL_KICKSTAND_UP   12800
+#define SHOVEL_KICKSTAND_DOWN 10000
 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;
@@ -120,6 +122,7 @@ void shovel_set(void *mot, int32_t cmd)
 
 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);
@@ -127,6 +130,7 @@ void shovel_down(void)
 
 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);
@@ -134,6 +138,7 @@ void shovel_mid(void)
 
 void shovel_up(void)
 {
+	shovel_current_limit_enable(0);
 	if (state_get_cob_count() <= 1)
 		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
 	else
@@ -142,11 +147,22 @@ void shovel_up(void)
 	cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }
 
-void shovel_kickstand(void)
+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_UP);
+	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)