X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;fp=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=f6edc88529a668d1cfb649cb5c3736b7afece9fe;hp=cf122e60188d486fec51a9b5a1577d17e50ca588;hb=71deb6e552fcd65c853b35c5206ee47b735f2ff5;hpb=96748eb468a27a784f148c89db593372357d9e2d

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index cf122e6..f6edc88 100644
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -122,8 +122,14 @@ void microb_cs_init(void)
 	pid_set_out_shift(&ballboard.roller.pid, 6);
 	pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+	/* QUADRAMP (used as a ramp filter) */
+	quadramp_init(&ballboard.roller.qr);
+	quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+	quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
 	/* CS */
 	cs_init(&ballboard.roller.cs);
+	cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
 	cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 	cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 	cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);