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20100416
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
spickle.c
diff --git
a/projects/microb2010/cobboard/spickle.c
b/projects/microb2010/cobboard/spickle.c
index
e1d9a7b
..
dcee125
100644
(file)
--- a/
projects/microb2010/cobboard/spickle.c
+++ b/
projects/microb2010/cobboard/spickle.c
@@
-60,23
+60,23
@@
struct spickle_params {
};
static struct spickle_params spickle = {
};
static struct spickle_params spickle = {
- .k1 =
5
00,
+ .k1 =
10
00,
.k2 = 20,
.csb = {
&cobboard.left_spickle,
&cobboard.right_spickle,
},
.pos_deployed = {
.k2 = 20,
.csb = {
&cobboard.left_spickle,
&cobboard.right_spickle,
},
.pos_deployed = {
-
4000
0, /* left */
-
-4000
0, /* right */
+ 0, /* left */
+ 0, /* right */
},
.pos_mid = {
},
.pos_mid = {
- 2
0
000, /* left */
-
-20
000, /* right */
+ 2
5
000, /* left */
+
26
000, /* right */
},
.pos_packed = {
},
.pos_packed = {
- 0, /* left */
- 0, /* right */
+
5300
0, /* left */
+
5450
0, /* right */
},
};
},
};
@@
-84,9
+84,9
@@
static struct spickle_params spickle = {
static void spickle_autopos(void)
{
printf_P(PSTR("spickle autopos..."));
static void spickle_autopos(void)
{
printf_P(PSTR("spickle autopos..."));
- pwm_ng_set(LEFT_SPICKLE_PWM, -
5
00);
- pwm_ng_set(RIGHT_SPICKLE_PWM,
5
00);
- wait_ms(
10
00);
+ pwm_ng_set(LEFT_SPICKLE_PWM, -
7
00);
+ pwm_ng_set(RIGHT_SPICKLE_PWM,
-7
00);
+ wait_ms(
25
00);
pwm_ng_set(LEFT_SPICKLE_PWM, 0);
pwm_ng_set(RIGHT_SPICKLE_PWM, 0);
encoders_spi_set_value(LEFT_SPICKLE_ENCODER, 0);
pwm_ng_set(LEFT_SPICKLE_PWM, 0);
pwm_ng_set(RIGHT_SPICKLE_PWM, 0);
encoders_spi_set_value(LEFT_SPICKLE_ENCODER, 0);