french cup + idf cup

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

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 8714367..e06638d 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -46,8 +46,8 @@
 #define SHOVEL_DOWN 100
 #define SHOVEL_MID  4500
 #define SHOVEL_UP   11300
-#define SHOVEL_KICKSTAND_UP   12800
-#define SHOVEL_KICKSTAND_DOWN 10000
+#define SHOVEL_KICKSTAND_UP   13400
+#define SHOVEL_KICKSTAND_DOWN 10400
 
 static int32_t shovel_k1 = 1000;
 static int32_t shovel_k2 = 20;
@@ -140,9 +140,9 @@ void shovel_up(void)
 {
        shovel_current_limit_enable(0);
        if (state_get_cob_count() <= 1)
-               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 700, 2500);
        else
-               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
        quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
        cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 }
@@ -175,6 +175,11 @@ uint8_t shovel_is_down(void)
        return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
+uint8_t shovel_is_mid(void)
+{
+       return shovel_is_at_pos(SHOVEL_MID);
+}
+
 void shovel_init(void)
 {
        shovel_autopos();