french cup + idf cup

[aversive.git] / projects / microb2010 / ballboard / cs.c

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index e1166da..35628d2 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -82,6 +82,7 @@ static void do_cs(void *dummy)
                                         cs_get_filtered_feedback(&ballboard.roller.cs),
                                         cs_get_out(&ballboard.roller.cs));
 
+#if 0
                /* urgent case: stop power on blocking */
                if (ballboard.flags & DO_ERRBLOCKING) {
                        if (bd_get(&ballboard.forktrans.bd) ||
@@ -90,6 +91,7 @@ static void do_cs(void *dummy)
                                ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
                        }
                }
+#endif
        }
        if (ballboard.flags & DO_POWER)
                BRAKE_OFF();
@@ -181,8 +183,8 @@ void microb_cs_init(void)
 
        /* QUADRAMP */
        quadramp_init(&ballboard.forkrot.qr);
-       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
-       quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
+       quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
 
        /* CS */
        cs_init(&ballboard.forkrot.cs);