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
  49 /* called every 5 ms */
  50 static void do_cs(__attribute__((unused)) void *dummy)
  51 {
  52         /* read encoders */
  53         if (cobboard.flags & DO_ENCODERS) {
  54                 encoders_spi_manage(NULL);
  55         }
  56         /* control system */
  57         if (cobboard.flags & DO_CS) {
  58                 if (cobboard.left_spickle.on)
  59                         cs_manage(&cobboard.left_spickle.cs);
  60                 if (cobboard.right_spickle.on)
  61                         cs_manage(&cobboard.right_spickle.cs);
  62                 if (cobboard.shovel.on)
  63                         cs_manage(&cobboard.shovel.cs);
  64         }
  65         if (cobboard.flags & DO_BD) {
  66                 bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
  67                 bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs);
  68                 bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs);
  69         }
  70         if (cobboard.flags & DO_POWER)
  71                 BRAKE_OFF();
  72         else
  73                 BRAKE_ON();
  74 }
  75
  76 void dump_cs_debug(const char *name, struct cs *cs)
  77 {
  78         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
  79               "in=% .5ld out=% .5ld",
  80               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  81               cs_get_error(cs), cs_get_filtered_feedback(cs),
  82               cs_get_out(cs));
  83 }
  84
  85 void dump_cs(const char *name, struct cs *cs)
  86 {
  87         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
  88                       "in=% .5ld out=% .5ld\r\n"),
  89                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
  90                  cs_get_error(cs), cs_get_filtered_feedback(cs),
  91                  cs_get_out(cs));
  92 }
  93
  94 void dump_pid(const char *name, struct pid_filter *pid)
  95 {
  96         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
  97                  name,
  98                  pid_get_value_in(pid) * pid_get_gain_P(pid),
  99                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 100                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 101                  pid_get_value_out(pid));
 102 }
 103
 104 void microb_cs_init(void)
 105 {
 106         /* ---- CS left_spickle */
 107         /* PID */
 108         pid_init(&cobboard.left_spickle.pid);
 109         pid_set_gains(&cobboard.left_spickle.pid, 500, 40, 5000);
 110         pid_set_maximums(&cobboard.left_spickle.pid, 0, 5000, 2400); /* max is 12 V */
 111         pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 112         pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 113
 114         /* QUADRAMP */
 115         quadramp_init(&cobboard.left_spickle.qr);
 116         quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 2000, 2000); /* set speed */
 117         quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 20, 20); /* set accel */
 118
 119         /* CS */
 120         cs_init(&cobboard.left_spickle.cs);
 121         cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
 122         cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
 123         cs_set_process_in(&cobboard.left_spickle.cs, pwm_ng_set, LEFT_SPICKLE_PWM);
 124         cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
 125         cs_set_consign(&cobboard.left_spickle.cs, 0);
 126
 127         /* Blocking detection */
 128         bd_init(&cobboard.left_spickle.bd);
 129         bd_set_speed_threshold(&cobboard.left_spickle.bd, 150);
 130         bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40);
 131
 132         /* ---- CS right_spickle */
 133         /* PID */
 134         pid_init(&cobboard.right_spickle.pid);
 135         pid_set_gains(&cobboard.right_spickle.pid, 500, 40, 5000);
 136         pid_set_maximums(&cobboard.right_spickle.pid, 0, 5000, 2400); /* max is 12 V */
 137         pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 138         pid_set_derivate_filter(&cobboard.right_spickle.pid, 6);
 139
 140         /* QUADRAMP */
 141         quadramp_init(&cobboard.right_spickle.qr);
 142         quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 1000, 1000); /* set speed */
 143         quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 20, 20); /* set accel */
 144
 145         /* CS */
 146         cs_init(&cobboard.right_spickle.cs);
 147         cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
 148         cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
 149         cs_set_process_in(&cobboard.right_spickle.cs, pwm_ng_set, RIGHT_SPICKLE_PWM);
 150         cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
 151         cs_set_consign(&cobboard.right_spickle.cs, 0);
 152
 153         /* Blocking detection */
 154         bd_init(&cobboard.right_spickle.bd);
 155         bd_set_speed_threshold(&cobboard.right_spickle.bd, 150);
 156         bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40);
 157
 158         /* ---- CS shovel */
 159         /* PID */
 160         pid_init(&cobboard.shovel.pid);
 161         pid_set_gains(&cobboard.shovel.pid, 500, 40, 5000);
 162         pid_set_maximums(&cobboard.shovel.pid, 0, 5000, 2400); /* max is 12 V */
 163         pid_set_out_shift(&cobboard.shovel.pid, 10);
 164         pid_set_derivate_filter(&cobboard.shovel.pid, 6);
 165
 166         /* QUADRAMP */
 167         quadramp_init(&cobboard.shovel.qr);
 168         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 1000); /* set speed */
 169         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 20, 20); /* set accel */
 170
 171         /* CS */
 172         cs_init(&cobboard.shovel.cs);
 173         cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 174         cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
 175         cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
 176         cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 177         cs_set_consign(&cobboard.shovel.cs, 0);
 178
 179         /* Blocking detection */
 180         bd_init(&cobboard.shovel.bd);
 181         bd_set_speed_threshold(&cobboard.shovel.bd, 150);
 182         bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
 183
 184         /* set them on !! */
 185         cobboard.left_spickle.on = 1;
 186         cobboard.right_spickle.on = 1;
 187         cobboard.shovel.on = 1;
 188
 189         scheduler_add_periodical_event_priority(do_cs, NULL,
 190                                                 CS_PERIOD / SCHEDULER_UNIT,
 191                                                 CS_PRIO);
 192 }