projects/microb2010/cobboard/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 <clock_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 #include "spickle.h"
  49
  50 /* called every 5 ms */
  51 static void do_cs(__attribute__((unused)) void *dummy)
  52 {
  53         /* read encoders */
  54         if (cobboard.flags & DO_ENCODERS) {
  55                 encoders_spi_manage(NULL);
  56         }
  57         /* control system */
  58         if (cobboard.flags & DO_CS) {
  59                 if (cobboard.left_spickle.on)
  60                         cs_manage(&cobboard.left_spickle.cs);
  61                 if (cobboard.right_spickle.on)
  62                         cs_manage(&cobboard.right_spickle.cs);
  63                 if (cobboard.shovel.on)
  64                         cs_manage(&cobboard.shovel.cs);
  65         }
  66         if (cobboard.flags & DO_BD) {
  67                 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
  68                 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
  69                 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
  70         }
  71         if (cobboard.flags & DO_POWER)
  72                 BRAKE_OFF();
  73         else
  74                 BRAKE_ON();
  75 }
  76
  77 void dump_cs_debug(const char *name, struct cs *cs)
  78 {
  79         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
  80               "in=% .5ld out=% .5ld",
  81               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  82               cs_get_error(cs), cs_get_filtered_feedback(cs),
  83               cs_get_out(cs));
  84 }
  85
  86 void dump_cs(const char *name, struct cs *cs)
  87 {
  88         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
  89                       "in=% .5ld out=% .5ld\r\n"),
  90                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  91                  cs_get_error(cs), cs_get_filtered_feedback(cs),
  92                  cs_get_out(cs));
  93 }
  94
  95 void dump_pid(const char *name, struct pid_filter *pid)
  96 {
  97         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
  98                  name,
  99                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 100                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 101                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 102                  pid_get_value_out(pid));
 103 }
 104
 105 void microb_cs_init(void)
 106 {
 107         /* ---- CS left_spickle */
 108         /* PID */
 109         pid_init(&cobboard.left_spickle.pid);
 110         pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
 111         pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
 112         pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 113         pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 114
 115         /* CS */
 116         cs_init(&cobboard.left_spickle.cs);
 117         cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
 118         cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
 119         cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
 120         cs_set_consign(&cobboard.left_spickle.cs, 0);
 121
 122         /* Blocking detection */
 123         bd_init(&cobboard.left_spickle.bd);
 124         bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
 125         bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
 126
 127         /* ---- CS right_spickle */
 128         /* PID */
 129         pid_init(&cobboard.right_spickle.pid);
 130         pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
 131         pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
 132         pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 133         pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 134
 135         /* CS */
 136         cs_init(&cobboard.right_spickle.cs);
 137         cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
 138         cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
 139         cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
 140         cs_set_consign(&cobboard.right_spickle.cs, 0);
 141
 142         /* Blocking detection */
 143         bd_init(&cobboard.right_spickle.bd);
 144         bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
 145         bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
 146
 147         /* ---- CS shovel */
 148         /* PID */
 149         pid_init(&cobboard.shovel.pid);
 150         pid_set_gains(&cobboard.shovel.pid, 1000, 10, 200);
 151         pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
 152         pid_set_out_shift(&cobboard.shovel.pid, 10);
 153         pid_set_derivate_filter(&cobboard.shovel.pid, 4);
 154
 155         /* CS */
 156         cs_init(&cobboard.shovel.cs);
 157         //cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 158         cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
 159         cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
 160         cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 161         cs_set_consign(&cobboard.shovel.cs, 0);
 162
 163         /* Blocking detection */
 164         bd_init(&cobboard.shovel.bd);
 165         bd_set_speed_threshold(&cobboard.shovel.bd, 150);
 166         bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
 167
 168         /* set them on (or not) !! */
 169         cobboard.left_spickle.on = 0;
 170         cobboard.right_spickle.on = 0;
 171         cobboard.shovel.on = 0;
 172
 173         scheduler_add_periodical_event_priority(do_cs, NULL,
 174                                                 CS_PERIOD / SCHEDULER_UNIT,
 175                                                 CS_PRIO);
 176 }