From 41c45b818e87a8f9e827a89bc97e7c125476c663 Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Fri, 12 Dec 2025 17:24:15 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=B8=D0=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MainModesArbiter.c | 32 ++++++++++++++++++++++++++------
 1 file changed, 26 insertions(+), 6 deletions(-)

diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index e818ed4..5329e66 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -68,8 +68,8 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
-                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
-                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
+                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
                         ++step;
                         break;
                     }
@@ -92,18 +92,38 @@ static _Noreturn void Mma_Thread(tMma *env) {
                     case 6: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
-                        env->linTaskActuator0.linCommandActuator[0].POS = 32000;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 6000;
                         env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
-                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
-                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
+                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
                         ++step;
                         break;
                     }
 
                     case 7: {
-                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 32000) {
+                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 6000) {
+                            ++step;
+                        }
+                        break;
+                    }
+
+                    case 8: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 8000;
+                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 3;
+                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 0;
+                        ++step;
+                        break;
+                    }
+
+                    case 9: {
+                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 8000) {
                             ++step;
                         }
                         break;