X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;fp=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=e06638d1d060a60147be0ef1acabcae551fd9bef;hp=8714367decc766ba438a7a2b1ce722e413a83a20;hb=04f1061f2c5959ce87f632591576097f540dfc14;hpb=e6e4582229cd4ed8ffe73bdfbae79d236129df3b

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 8714367..e06638d 100644
--- 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();