X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=35628d2806a23847e3c9ade3f673ddb6b294459c;hb=HEAD;hp=f6edc88529a668d1cfb649cb5c3736b7afece9fe;hpb=71deb6e552fcd65c853b35c5206ee47b735f2ff5;p=aversive.git

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index f6edc88..35628d2 100644
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -45,6 +45,7 @@
 
 #include "main.h"
 #include "actuator.h"
+#include "beacon.h"
 
 int32_t encoders_spi_update_roller_speed(void *number)
 {
@@ -71,21 +72,26 @@ static void do_cs(void *dummy)
 			cs_manage(&ballboard.forktrans.cs);
 		if (ballboard.forkrot.on)
 			cs_manage(&ballboard.forkrot.cs);
+		if (ballboard.beacon.on)
+			cs_manage(&ballboard.beacon.cs);
 	}
 	if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
-		bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
 		bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
 		bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+		bd_manage_from_speed_cmd(&ballboard.roller.bd,
+					 cs_get_filtered_feedback(&ballboard.roller.cs),
+					 cs_get_out(&ballboard.roller.cs));
 
+#if 0
 		/* urgent case: stop power on blocking */
 		if (ballboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&ballboard.roller.bd) ||
-			    bd_get(&ballboard.forktrans.bd) ||
+			if (bd_get(&ballboard.forktrans.bd) ||
 			    bd_get(&ballboard.forkrot.bd)) {
 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 				ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 			}
 		}
+#endif
 	}
 	if (ballboard.flags & DO_POWER)
 		BRAKE_OFF();
@@ -137,8 +143,9 @@ void microb_cs_init(void)
 
 	/* Blocking detection */
 	bd_init(&ballboard.roller.bd);
-	bd_set_speed_threshold(&ballboard.roller.bd, 150);
-	bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
+	bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
+	bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
 	/* ---- CS forktrans */
 	/* PID */
@@ -176,8 +183,8 @@ void microb_cs_init(void)
 
 	/* QUADRAMP */
 	quadramp_init(&ballboard.forkrot.qr);
-	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
-	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
+	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
 
 	/* CS */
 	cs_init(&ballboard.forkrot.cs);
@@ -192,10 +199,27 @@ void microb_cs_init(void)
 	bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
 	bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 
+	/* BEACON */
+
+	/* PID */
+	pid_init(&ballboard.beacon.pid);
+	pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
+	pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
+	pid_set_out_shift(&ballboard.beacon.pid, 6);
+	pid_set_derivate_filter(&ballboard.beacon.pid, 6);
+
+	/* CS */
+	cs_init(&ballboard.beacon.cs);
+	cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
+	cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+	cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+	cs_set_consign(&ballboard.beacon.cs, 0);
+
 	/* set them on !! */
 	ballboard.roller.on = 1;
 	ballboard.forktrans.on = 1;
-	ballboard.forkrot.on = 1;
+	ballboard.forkrot.on = 0;
+	ballboard.beacon.on = 0;
 
 
 	scheduler_add_periodical_event_priority(do_cs, NULL,