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new base mech plate
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
commands_traj.c
diff --git
a/projects/microb2010/mainboard/commands_traj.c
b/projects/microb2010/mainboard/commands_traj.c
index
e519d17
..
92ab9a0
100644
(file)
--- a/
projects/microb2010/mainboard/commands_traj.c
+++ b/
projects/microb2010/mainboard/commands_traj.c
@@
-823,6
+823,7
@@
static void auto_position(void)
interrupt_traj_reset();
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
interrupt_traj_reset();
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+ strat_set_acc(3, 3);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
@@
-832,16
+833,18
@@
static void auto_position(void)
COLOR_A(-90));
strat_hardstop();
COLOR_A(-90));
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -
18
0);
+ trajectory_d_rel(&mainboard.traj, -
7
0);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
@@
-850,17
+853,17
@@
static void auto_position(void)
180);
strat_hardstop();
180);
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -
17
0);
+ trajectory_d_rel(&mainboard.traj, -
8
0);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
-
wait_ms(10
0);
+
time_wait_ms(25
0);
- trajectory_a_rel(&mainboard.traj, COLOR_A(-1
10
));
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-1
35
));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
-
wait_ms(10
0);
+
time_wait_ms(25
0);
strat_set_speed(old_spdd, old_spda);
return;
strat_set_speed(old_spdd, old_spda);
return;