projects/microb2010/cobboard/shovel.c

   1 /*
   2  *  Copyright Droids Corporation (2010)
   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 #include <rdline.h>
  41
  42 #include "main.h"
  43 #include "shovel.h"
  44
  45 #define SHOVEL_DOWN 100
  46 #define SHOVEL_MID  4500
  47 #define SHOVEL_UP   11000
  48
  49 /* init spickle position at beginning */
  50 static void shovel_autopos(void)
  51 {
  52         printf_P(PSTR("shovel autopos..."));
  53         pwm_ng_set(SHOVEL_PWM, -500);
  54         wait_ms(1000);
  55         pwm_ng_set(LEFT_SPICKLE_PWM, 0);
  56         encoders_spi_set_value(SHOVEL_ENCODER, 0);
  57         printf_P(PSTR("ok\r\n"));
  58 }
  59
  60 static uint8_t shovel_is_at_pos(int32_t pos)
  61 {
  62         int32_t diff;
  63         diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
  64         if (diff < 0)
  65                 diff = -diff;
  66         if (diff < 500)
  67                 return 1;
  68         return 0;
  69 }
  70
  71 void shovel_down(void)
  72 {
  73         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
  74         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
  75         cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
  76 }
  77
  78 void shovel_mid(void)
  79 {
  80         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
  81         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
  82         cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
  83 }
  84
  85 void shovel_up(void)
  86 {
  87         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
  88         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
  89         cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
  90 }
  91
  92 uint8_t shovel_is_up(void)
  93 {
  94         return shovel_is_at_pos(SHOVEL_UP);
  95 }
  96
  97 uint8_t shovel_is_down(void)
  98 {
  99         return shovel_is_at_pos(SHOVEL_DOWN);
 100 }
 101
 102 void shovel_init(void)
 103 {
 104         shovel_autopos();
 105         cobboard.shovel.on = 1;
 106 }