fix kickstand

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index 24226e1e3446d5895b9f371beabec8f0b6ca8ef3..3f37356b39b6fdd02bcaa3649637f58dca1d6ab7 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -727,7 +727,7 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
        spickle_dump_params();
 }
 
-prog_char str_spickle_params2_arg0[] = "spickle_params2";
+prog_char str_spickle_params2_arg0[] = "spickle_params";
 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
 prog_char str_spickle_params2_arg1[] = "wcoef#scoef";

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 71139ab7ad78fab6357f6e59843c54d0e60d6071..42f734cd61ba1c589d8c579494bcf476aa987d31 100644 (file)
--- 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
@@ -46,6 +46,7 @@
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
 #define SHOVEL_UP   11000
+#define SHOVEL_KICKSTAND 12800
 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;
@@ -146,7 +147,7 @@ void shovel_kickstand(void)
 {
        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);
 }
 
 uint8_t shovel_is_up(void)

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index 741c103155e48826dbb383c573ca6b2f363b19e7..de538867334a07369d2bfe4e42ddc4834ed30dd8 100644 (file)
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -66,7 +66,7 @@ static struct spickle_params spickle = {
        .sk1 = 1000,
        .sk2 = 20,
        .wk1 = 200,
-       .wk2 = 20,
+       .wk2 = 5,
        .csb = {
                &cobboard.left_spickle,
                &cobboard.right_spickle,