projects/microb2009/mechboard/cs.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   5  *  This program is free software; you can redistribute it and/or modify
   6  *  it under the terms of the GNU General Public License as published by
   7  *  the Free Software Foundation; either version 2 of the License, or
   8  *  (at your option) any later version.
   9  *
  10  *  This program is distributed in the hope that it will be useful,
  11  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  *  GNU General Public License for more details.
  14  *
  15  *  You should have received a copy of the GNU General Public License
  16  *  along with this program; if not, write to the Free Software
  17  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18  *
  19  *  Revision : $Id: cs.c,v 1.4 2009-04-24 19:30:42 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <spi.h>
  31 #include <encoders_spi.h>
  32 #include <pwm_ng.h>
  33 #include <timer.h>
  34 #include <scheduler.h>
  35 #include <time.h>
  36 #include <adc.h>
  37
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <parse.h>
  44 #include <rdline.h>
  45
  46 #include "main.h"
  47 #include "actuator.h"
  48
  49 /* called every 5 ms */
  50 static void do_cs(__attribute__((unused)) void *dummy)
  51 {
  52         /* read encoders */
  53         if (mechboard.flags & DO_ENCODERS) {
  54                 encoders_spi_manage(NULL);
  55         }
  56         /* control system */
  57         if (mechboard.flags & DO_CS) {
  58                 if (mechboard.left_arm.on)
  59                         cs_manage(&mechboard.left_arm.cs);
  60                 if (mechboard.right_arm.on)
  61                         cs_manage(&mechboard.right_arm.cs);
  62         }
  63         if (mechboard.flags & DO_BD) {
  64                 bd_manage_from_cs(&mechboard.left_arm.bd, &mechboard.left_arm.cs);
  65                 bd_manage_from_cs(&mechboard.right_arm.bd, &mechboard.right_arm.cs);
  66         }
  67         if (mechboard.flags & DO_POWER)
  68                 BRAKE_OFF();
  69         else
  70                 BRAKE_ON();
  71 }
  72
  73 void dump_cs_debug(const char *name, struct cs *cs)
  74 {
  75         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
  76               "in=% .5ld out=% .5ld",
  77               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  78               cs_get_error(cs), cs_get_filtered_feedback(cs),
  79               cs_get_out(cs));
  80 }
  81
  82 void dump_cs(const char *name, struct cs *cs)
  83 {
  84         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
  85                       "in=% .5ld out=% .5ld\r\n"),
  86                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  87                  cs_get_error(cs), cs_get_filtered_feedback(cs),
  88                  cs_get_out(cs));
  89 }
  90
  91 void dump_pid(const char *name, struct pid_filter *pid)
  92 {
  93         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
  94                  name,
  95                  pid_get_value_in(pid) * pid_get_gain_P(pid),
  96                  pid_get_value_I(pid) * pid_get_gain_I(pid),
  97                  pid_get_value_D(pid) * pid_get_gain_D(pid),
  98                  pid_get_value_out(pid));
  99 }
 100
 101 void microb_cs_init(void)
 102 {
 103         /* ---- CS left_arm */
 104         /* PID */
 105         pid_init(&mechboard.left_arm.pid);
 106         pid_set_gains(&mechboard.left_arm.pid, 500, 40, 5000);
 107         pid_set_maximums(&mechboard.left_arm.pid, 0, 5000, 2400); /* max is 12 V */
 108         pid_set_out_shift(&mechboard.left_arm.pid, 10);
 109         pid_set_derivate_filter(&mechboard.left_arm.pid, 4);
 110
 111         /* QUADRAMP */
 112         quadramp_init(&mechboard.left_arm.qr);
 113         quadramp_set_1st_order_vars(&mechboard.left_arm.qr, 2000, 2000); /* set speed */
 114         quadramp_set_2nd_order_vars(&mechboard.left_arm.qr, 20, 20); /* set accel */
 115
 116         /* CS */
 117         cs_init(&mechboard.left_arm.cs);
 118         cs_set_consign_filter(&mechboard.left_arm.cs, quadramp_do_filter, &mechboard.left_arm.qr);
 119         cs_set_correct_filter(&mechboard.left_arm.cs, pid_do_filter, &mechboard.left_arm.pid);
 120         cs_set_process_in(&mechboard.left_arm.cs, pwm_ng_set, LEFT_ARM_PWM);
 121         cs_set_process_out(&mechboard.left_arm.cs, encoders_spi_get_value, LEFT_ARM_ENCODER);
 122         cs_set_consign(&mechboard.left_arm.cs, 0);
 123
 124         /* Blocking detection */
 125         bd_init(&mechboard.left_arm.bd);
 126         bd_set_speed_threshold(&mechboard.left_arm.bd, 150);
 127         bd_set_current_thresholds(&mechboard.left_arm.bd, 500, 8000, 1000000, 40);
 128
 129         /* ---- CS right_arm */
 130         /* PID */
 131         pid_init(&mechboard.right_arm.pid);
 132         pid_set_gains(&mechboard.right_arm.pid, 500, 40, 5000);
 133         pid_set_maximums(&mechboard.right_arm.pid, 0, 5000, 2400); /* max is 12 V */
 134         pid_set_out_shift(&mechboard.right_arm.pid, 10);
 135         pid_set_derivate_filter(&mechboard.right_arm.pid, 6);
 136
 137         /* QUADRAMP */
 138         quadramp_init(&mechboard.right_arm.qr);
 139         quadramp_set_1st_order_vars(&mechboard.right_arm.qr, 1000, 1000); /* set speed */
 140         quadramp_set_2nd_order_vars(&mechboard.right_arm.qr, 20, 20); /* set accel */
 141
 142         /* CS */
 143         cs_init(&mechboard.right_arm.cs);
 144         cs_set_consign_filter(&mechboard.right_arm.cs, quadramp_do_filter, &mechboard.right_arm.qr);
 145         cs_set_correct_filter(&mechboard.right_arm.cs, pid_do_filter, &mechboard.right_arm.pid);
 146         cs_set_process_in(&mechboard.right_arm.cs, pwm_ng_set, RIGHT_ARM_PWM);
 147         cs_set_process_out(&mechboard.right_arm.cs, encoders_spi_get_value, RIGHT_ARM_ENCODER);
 148         cs_set_consign(&mechboard.right_arm.cs, 0);
 149
 150         /* Blocking detection */
 151         bd_init(&mechboard.right_arm.bd);
 152         bd_set_speed_threshold(&mechboard.right_arm.bd, 150);
 153         bd_set_current_thresholds(&mechboard.right_arm.bd, 500, 8000, 1000000, 40);
 154
 155         /* set them on !! */
 156         mechboard.left_arm.on = 1;
 157         mechboard.right_arm.on = 1;
 158
 159
 160         scheduler_add_periodical_event_priority(do_cs, NULL,
 161                                                 CS_PERIOD / SCHEDULER_UNIT,
 162                                                 CS_PRIO);
 163 }