limit speed in weak pack

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

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index 386b360..31fa5e7 100644 (file)
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -125,8 +125,14 @@ void microb_cs_init(void)
        pid_set_out_shift(&cobboard.left_spickle.pid, 10);
        pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
+       /* quadramp */
+       quadramp_init(&cobboard.left_spickle.qr);
+       quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 3000, 3000); /* set speed */
+       quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 0, 0); /* set accel */
+
        /* CS */
        cs_init(&cobboard.left_spickle.cs);
+       cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
        cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
        cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
        cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
@@ -145,8 +151,14 @@ void microb_cs_init(void)
        pid_set_out_shift(&cobboard.right_spickle.pid, 10);
        pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 
+       /* quadramp */
+       quadramp_init(&cobboard.right_spickle.qr);
+       quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set speed */
+       quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set accel */
+
        /* CS */
        cs_init(&cobboard.right_spickle.cs);
+       cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
        cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
        cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
        cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);