serpi mod roll speed; servo pos; ball pos

diff --git a/modules/comm/spi/spi_host.c b/modules/comm/spi/spi_host.c
index 9ccf87deb2433c54cdbe106010d6769c4a34e935..0782acdc1dfa2847d960136e8be8694f2172ad8f 100644 (file)
--- a/modules/comm/spi/spi_host.c
+++ b/modules/comm/spi/spi_host.c
@@ -35,7 +35,7 @@
 static volatile uint8_t g_ss_number;
 static volatile spi_mode_t g_spi_mode;
 static volatile uint8_t g_slave_selected;
-static volatile uint8_t g_spi_order;
+/*static*/ volatile uint8_t g_spi_order;
 static volatile spi_format_t g_spi_format;
 static volatile spi_mode_t g_spi_mode;
 static volatile spi_clk_rate_t g_spi_clk_rate;

diff --git a/modules/debug/diagnostic/Makefile b/modules/debug/diagnostic/Makefile
index d4fdf06573b06bfe0e98855a515ee6dac30071e4..b6eb78a41aca119a7e5faa5296fabb2d5d1295dd 100644 (file)
--- a/modules/debug/diagnostic/Makefile
+++ b/modules/debug/diagnostic/Makefile
@@ -2,9 +2,9 @@ TARGET = diagnostic
 
 # List C source files here. (C dependencies are automatically generated.)
 ifeq ($(HOST),avr)
-SRC = stack_space.c int_show.c stackdump.c
+SRC = stack_space.c int_show.c
 else
-SRC = diag_host.c stackdump.c
+SRC = diag_host.c 
 endif
 
 include $(AVERSIVE_DIR)/mk/aversive_module.mk

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index e3afa27c91c45469530a08a2a5f16bee9f09b146..c71def016f1b00cf0996dcd1ce826e650be2b746 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -191,7 +191,7 @@ void trajectory_stop(struct trajectory *traj)
                                  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 
-#include <stackdump.h>
+//#include <stackdump.h>
 
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8d2355d15981184a6b0bdcdc76bd965361a5498c..8a15ca941e3f46293d671801a2123589d4813917 100644 (file)
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,7 +45,8 @@
 #include "main.h"
 #include "actuator.h"
 
-#define COBROLLER_SPEED 600
+#define COBROLLER_SPEED 1200
+//#define COBROLLER_SPEED 600
 //#define COBROLLER_SPEED 400
 
 #define SERVO_DOOR_OPEN 300
@@ -53,10 +54,10 @@
 #define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295
-#define SERVO_CARRY_L_CLOSED 400 // 510
+#define SERVO_CARRY_L_CLOSED 440//400 // 510
 
 #define SERVO_CARRY_R_OPEN 455
-#define SERVO_CARRY_R_CLOSED 350 // 250
+#define SERVO_CARRY_R_CLOSED 310//350 // 250
 
 void actuator_init(void);
 

diff --git a/projects/microb2010/mainboard/.config b/projects/microb2010/mainboard/.config
index dc35470897de87d831f29d826b3117fcff789deb..23029bc0c13fb30a8983150b79984730516da986 100644 (file)
--- a/projects/microb2010/mainboard/.config
+++ b/projects/microb2010/mainboard/.config
@@ -1,5 +1,5 @@
 #
-# Automatically generated by make menuconfig: don't edit
+# Automatically generated make config: don't edit
 #
 
 #
@@ -74,6 +74,10 @@ CONFIG_FORMAT_BINARY=y
 #
 # Base modules
 #
+
+#
+# Enable math library in generation options to see all modules
+#
 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 CONFIG_MODULE_FIXED_POINT=y
@@ -94,6 +98,10 @@ CONFIG_MODULE_TIME=y
 #
 # Communication modules
 #
+
+#
+# uart needs circular buffer, mf2 client may need scheduler
+#
 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y
@@ -178,6 +186,10 @@ CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y
 # Control system modules
 #
 CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
+
+#
+# Filters
+#
 CONFIG_MODULE_PID=y
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
@@ -188,12 +200,20 @@ CONFIG_MODULE_QUADRAMP=y
 #
 # Radio devices
 #
+
+#
+# Some radio devices require SPI to be activated
+#
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
+
+#
+# Crypto modules depend on utils module
+#
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
@@ -203,12 +223,20 @@ CONFIG_MODULE_QUADRAMP=y
 #
 # Encodings modules
 #
+
+#
+# Encoding modules depend on utils module
+#
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
+
+#
+# Debug modules depend on utils module
+#
 CONFIG_MODULE_DIAGNOSTIC=y
 CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y
 CONFIG_MODULE_ERROR=y

diff --git a/projects/microb2010/mainboard/actuator.c b/projects/microb2010/mainboard/actuator.c
index ed86f335b59f0998d55ef91ce6fa5a4eb2747c2f..9ed1d6336ae13e82962f2c0090f40777e5894145 100644 (file)
--- a/projects/microb2010/mainboard/actuator.c
+++ b/projects/microb2010/mainboard/actuator.c
@@ -73,8 +73,8 @@ void pwm_set_and_save(void *pwm, int32_t val)
 void support_balls_deploy(void)
 {
 #ifndef HOST_VERSION
-       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 560);
-       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 155);
+       pwm_ng_set(SUPPORT_BALLS_R_SERVO, 550);
+       pwm_ng_set(SUPPORT_BALLS_L_SERVO, 165);
 #endif
 }
 

diff --git a/projects/microb2010/tests/static_beacon/.config b/projects/microb2010/tests/static_beacon/.config
index 1d006638a03111948c60b0968ae3b5a5851743ea..8c612397d8ba4819caaf512effbe50e2fa81c008 100644 (file)
--- a/projects/microb2010/tests/static_beacon/.config
+++ b/projects/microb2010/tests/static_beacon/.config
@@ -1,5 +1,5 @@
 #
-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit
 #
 
 #
@@ -74,10 +74,6 @@ CONFIG_FORMAT_BINARY=y
 #
 # Base modules
 #
-
-#
-# Enable math library in generation options to see all modules
-#
 CONFIG_MODULE_CIRBUF=y
 # CONFIG_MODULE_CIRBUF_LARGE is not set
 # CONFIG_MODULE_FIXED_POINT is not set
@@ -98,10 +94,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y
 #
 # Communication modules
 #
-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#
 CONFIG_MODULE_UART=y
 # CONFIG_MODULE_UART_9BITS is not set
 CONFIG_MODULE_UART_CREATE_CONFIG=y
@@ -186,10 +178,6 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 # Control system modules
 #
 # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
-
-#
-# Filters
-#
 # CONFIG_MODULE_PID is not set
 # CONFIG_MODULE_PID_CREATE_CONFIG is not set
 # CONFIG_MODULE_RAMP is not set
@@ -200,20 +188,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 #
 # Radio devices
 #
-
-#
-# Some radio devices require SPI to be activated
-#
 # CONFIG_MODULE_CC2420 is not set
 # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
 
 #
 # Crypto modules
 #
-
-#
-# Crypto modules depend on utils module
-#
 # CONFIG_MODULE_AES is not set
 # CONFIG_MODULE_AES_CTR is not set
 # CONFIG_MODULE_MD5 is not set
@@ -223,20 +203,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y
 #
 # Encodings modules
 #
-
-#
-# Encoding modules depend on utils module
-#
 # CONFIG_MODULE_BASE64 is not set
 # CONFIG_MODULE_HAMMING is not set
 
 #
 # Debug modules
 #
-
-#
-# Debug modules depend on utils module
-#
 # CONFIG_MODULE_DIAGNOSTIC is not set
 # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
 # CONFIG_MODULE_ERROR is not set