X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=8714367decc766ba438a7a2b1ce722e413a83a20;hb=e6e4582229cd4ed8ffe73bdfbae79d236129df3b;hp=abf0c42db0a4c31c26fc607c9ec74417d65c0753;hpb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac;p=aversive.git

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index abf0c42..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
@@ -40,11 +40,18 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "state.h"
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
-#define SHOVEL_MID  4900
-#define SHOVEL_UP   10000
+#define SHOVEL_MID  4500
+#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;
+static uint8_t shovel_current_limit = 1;
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
@@ -68,24 +75,96 @@ static uint8_t shovel_is_at_pos(int32_t pos)
 	return 0;
 }
 
+void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
+{
+	shovel_k1 = k1;
+	shovel_k2 = k2;
+}
+
+uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
+{
+	*k1 = shovel_k1;
+	*k2 = shovel_k2;
+	return shovel_current_limit;
+}
+
+void shovel_current_limit_enable(uint8_t enable)
+{
+	shovel_current_limit = enable;
+}
+
+/* Set CS command for shovel. Called by CS manager. */
+void shovel_set(void *mot, int32_t cmd)
+{
+	static int32_t oldpos;
+	int32_t pos, maxcmd, speed;
+
+	pos = encoders_spi_get_value(SHOVEL_ENCODER);
+	if (shovel_current_limit) {
+		speed = pos - oldpos;
+		if (speed > 0 && cmd < 0)
+			maxcmd = shovel_k1;
+		else if (speed < 0 && cmd > 0)
+			maxcmd = shovel_k1;
+		else {
+			speed = ABS(speed);
+			maxcmd = shovel_k1 + shovel_k2 * speed;
+		}
+		if (cmd > maxcmd)
+			cmd = maxcmd;
+		else if (cmd < -maxcmd)
+			cmd = -maxcmd;
+	}
+
+	pwm_ng_set(mot, cmd);
+	oldpos = pos;
+}
+
 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);
 }
 
 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);
 }
 
 void shovel_up(void)
 {
-	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 20);
+	shovel_current_limit_enable(0);
+	if (state_get_cob_count() <= 1)
+		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+	else
+		quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
 	cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }
 
+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_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)
 {
 	return shovel_is_at_pos(SHOVEL_UP);