From 5d21466eb434aa44eeb334a19668c58ffef5665f Mon Sep 17 00:00:00 2001
From: zer0 <zer0@carbon.local>
Date: Wed, 28 Apr 2010 00:03:54 +0200
Subject: [PATCH] optim cobboard

---
 projects/microb2010/cobboard/actuator.c | 11 ++++++-----
 projects/microb2010/cobboard/main.c     |  6 +++---
 projects/microb2010/cobboard/shovel.c   |  9 ++++++---
 projects/microb2010/cobboard/state.c    |  4 ++--
 4 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/projects/microb2010/cobboard/actuator.c b/projects/microb2010/cobboard/actuator.c
index 8dfe8bb..8d2355d 100644
--- a/projects/microb2010/cobboard/actuator.c
+++ b/projects/microb2010/cobboard/actuator.c
@@ -45,12 +45,12 @@
 #include "main.h"
 #include "actuator.h"
 
-#define COBROLLER_SPEED 800
+#define COBROLLER_SPEED 600
 //#define COBROLLER_SPEED 400
 
-#define SERVO_DOOR_OPEN 260
-#define SERVO_DOOR_CLOSED 500
-#define SERVO_DOOR_BLOCK 500
+#define SERVO_DOOR_OPEN 300
+#define SERVO_DOOR_CLOSED 530
+#define SERVO_DOOR_BLOCK 530
 
 #define SERVO_CARRY_L_OPEN 295
 #define SERVO_CARRY_L_CLOSED 400 // 510
@@ -113,5 +113,6 @@ void cobroller_reverse(uint8_t side)
 
 void actuator_init(void)
 {
-
+	servo_door_open();
+	servo_carry_open();
 }
diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 215fb5c..d01a92e 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -258,13 +258,13 @@ int main(void)
 
 	printf_P(PSTR("cobboard start\r\n"));
 
+	/* actuators */
+	actuator_init();
+
 	/* spickle, shovel */
 	spickle_init();
 	shovel_init();
 
-	/* actuators */
-	actuator_init();
-
 	state_init();
 
 	printf_P(PSTR("\r\n"));
diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index abf0c42..42ab78b 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -43,8 +43,8 @@
 #include "shovel.h"
 
 #define SHOVEL_DOWN 100
-#define SHOVEL_MID  4900
-#define SHOVEL_UP   10000
+#define SHOVEL_MID  4500
+#define SHOVEL_UP   11000
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
@@ -70,19 +70,22 @@ static uint8_t shovel_is_at_pos(int32_t pos)
 
 void shovel_down(void)
 {
+	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)
 {
+	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);
+	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);
 }
 
diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index df0e4c6..092d0de 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -118,7 +118,7 @@ static void spickle_prepare(uint8_t side)
 	if (cob_count >= 5)
 		spickle_pack(side);
 	else if (is_deployed(side) && !is_autoharvest(side))
-		spickle_mid(side);
+		spickle_deploy(side); /*spickle_mid(side);*/
 	else if (is_deployed(side) && is_autoharvest(side))
 		spickle_deploy(side);
 	else
@@ -206,7 +206,7 @@ static void state_do_harvest(uint8_t side)
 	/* eat the cob */
 	spickle_pack(side);
 
-	time_wait_ms(250);
+	time_wait_ms(200);
 	cobroller_on(side);
 
 	/* check that cob is correctly in place */
-- 
2.39.5