manipulators: introduce changing speed commands

Signed-off-by: nikigor <[email protected]>
edosedgar · May 25, 2019 · 19ecc6a · 19ecc6a
1 parent 624d84f
commit 19ecc6a
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Showing 3 changed files with 30 additions and 6 deletions.
diff --git a/lib/manipulators.c b/lib/manipulators.c
@@ -468,7 +468,7 @@ int cmd_step_is_running(char *args)
  */
 int cmd_left_stick_default(char *args)
 {
-        stick_left_set_angle(135);
+        stick_left_set_angle(145);
         memcpy(args, "OK", 3);
         return 3;
 }
@@ -478,7 +478,7 @@ int cmd_left_stick_default(char *args)
  */
 int cmd_left_stick_down(char *args)
 {
-        stick_left_set_angle(222);
+        stick_left_set_angle(233);
         memcpy(args, "OK", 3);
         return 3;
 }
@@ -488,7 +488,7 @@ int cmd_left_stick_down(char *args)
  */
 int cmd_right_stick_default(char *args)
 {
-        stick_right_set_angle(180);
+        stick_right_set_angle(182);
         memcpy(args, "OK", 3);
         return 3;
 }
@@ -498,7 +498,29 @@ int cmd_right_stick_default(char *args)
  */
 int cmd_right_stick_down(char *args)
 {
-        stick_right_set_angle(92);
+        stick_right_set_angle(94);
+        memcpy(args, "OK", 3);
+        return 3;
+}
+
+/*
+ * Set releaser speed high for weight unloading
+ */
+int cmd_set_releaser_speed_low(char *args)
+{
+        manip_ctrl->dyn_speeds[3] = 0x0200;
+        dyn_set_speeds();
+        memcpy(args, "OK", 3);
+        return 3;
+}
+
+/*
+ * Set releaser speed low for ground unloading
+ */
+int cmd_set_releaser_speed_high(char *args)
+{
+        manip_ctrl->dyn_speeds[3] = 0x03ff;
+        dyn_set_speeds();
         memcpy(args, "OK", 3);
         return 3;
 }

diff --git a/lib/peripheral.h b/lib/peripheral.h
@@ -108,8 +108,8 @@
 #define STICK_TIM                               TIM12
 #define STICK_TIM_ARR                           1999
 #define STICK_TIM_PSC                           839
-#define STEP_TIM_LEFT_CCR_INIT                  135
-#define STEP_TIM_RIGHT_CCR_INIT                 180
+#define STEP_TIM_LEFT_CCR_INIT                  145
+#define STEP_TIM_RIGHT_CCR_INIT                 182
 
 /*
  * Odometry configuration

diff --git a/lib/terminal_cmds_defs.h b/lib/terminal_cmds_defs.h
@@ -25,6 +25,8 @@ TERM_CMD_DEF(0x22, RIGHT_STICK_DEFAULT,         right_stick_default)
 TERM_CMD_DEF(0x23, RIGHT_STICK_DOWN,            right_stick_down)
 TERM_CMD_DEF(0x24, LEFT_STICK_DEFAULT,          left_stick_default)
 TERM_CMD_DEF(0x25, LEFT_STICK_DOWN,             left_stick_down)
+TERM_CMD_DEF(0x26, SET_RELEASER_SPEED_HIGH,     set_releaser_speed_high)
+TERM_CMD_DEF(0x27, SET_RELEASER_SPEED_LOW,      set_releaser_speed_low)
 TERM_CMD_DEF(0x60, STEP_CALIBRATE,              step_calibrate)
 TERM_CMD_DEF(0x61, STEP_SET_STEP,               step_set_step)
 TERM_CMD_DEF(0x62, STEP_DOWN,                   step_down)