projects/microb2010/cobboard/actuator.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
  19  *
  20  */
  21
  22 #include <aversive.h>
  23 #include <aversive/pgmspace.h>
  24 #include <aversive/wait.h>
  25 #include <aversive/error.h>
  26
  27 #include <ax12.h>
  28 #include <uart.h>
  29 #include <spi.h>
  30 #include <encoders_spi.h>
  31 #include <pwm_ng.h>
  32 #include <timer.h>
  33 #include <scheduler.h>
  34 #include <clock_time.h>
  35
  36 #include <pid.h>
  37 #include <quadramp.h>
  38 #include <control_system_manager.h>
  39 #include <blocking_detection_manager.h>
  40
  41 #include <rdline.h>
  42
  43 #include "sensor.h"
  44 #include "../common/i2c_commands.h"
  45 #include "main.h"
  46 #include "actuator.h"
  47
  48 #define COBROLLER_SPEED 1200
  49 //#define COBROLLER_SPEED 600
  50 //#define COBROLLER_SPEED 400
  51
  52 #define SERVO_DOOR_OPEN 300
  53 #define SERVO_DOOR_CLOSED 530
  54 #define SERVO_DOOR_BLOCK 530
  55
  56 #define SERVO_CARRY_L_OPEN 295
  57 #define SERVO_CARRY_L_CLOSED 440//400 // 510
  58
  59 #define SERVO_CARRY_R_OPEN 455
  60 #define SERVO_CARRY_R_CLOSED 310//350 // 250
  61
  62 void actuator_init(void);
  63
  64 void servo_carry_open(void)
  65 {
  66         pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_OPEN);
  67         pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_OPEN);
  68 }
  69
  70 void servo_carry_close(void)
  71 {
  72         pwm_ng_set(SERVO_CARRY_L_PWM, SERVO_CARRY_L_CLOSED);
  73         pwm_ng_set(SERVO_CARRY_R_PWM, SERVO_CARRY_R_CLOSED);
  74 }
  75
  76 void servo_door_open(void)
  77 {
  78         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_OPEN);
  79 }
  80
  81 void servo_door_close(void)
  82 {
  83         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_CLOSED);
  84 }
  85
  86 void servo_door_block(void)
  87 {
  88         pwm_ng_set(SERVO_DOOR_PWM, SERVO_DOOR_BLOCK);
  89 }
  90
  91 void cobroller_on(uint8_t side)
  92 {
  93         if (side == I2C_LEFT_SIDE)
  94                 cobboard.left_cobroller_speed = COBROLLER_SPEED;
  95         else
  96                 cobboard.right_cobroller_speed = -COBROLLER_SPEED;
  97 }
  98
  99 void cobroller_off(uint8_t side)
 100 {
 101         if (side == I2C_LEFT_SIDE)
 102                 cobboard.left_cobroller_speed = 0;
 103         else
 104                 cobboard.right_cobroller_speed = 0;
 105 }
 106
 107 void cobroller_reverse(uint8_t side)
 108 {
 109         if (side == I2C_LEFT_SIDE)
 110                 cobboard.left_cobroller_speed = -COBROLLER_SPEED;
 111         else
 112                 cobboard.right_cobroller_speed = COBROLLER_SPEED;
 113 }
 114
 115 void actuator_init(void)
 116 {
 117         servo_door_open();
 118         servo_carry_open();
 119 }