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 "state.h"
  44 #include "shovel.h"
  45
  46 #define SHOVEL_DOWN 100
  47 #define SHOVEL_MID  4500
  48 #define SHOVEL_UP   11000
  49 #define SHOVEL_KICKSTAND 12800
  50
  51 static int32_t shovel_k1 = 1000;
  52 static int32_t shovel_k2 = 20;
  53 static uint8_t shovel_current_limit = 1;
  54
  55 /* init spickle position at beginning */
  56 static void shovel_autopos(void)
  57 {
  58         printf_P(PSTR("shovel autopos..."));
  59         pwm_ng_set(SHOVEL_PWM, -500);
  60         wait_ms(1000);
  61         pwm_ng_set(LEFT_SPICKLE_PWM, 0);
  62         encoders_spi_set_value(SHOVEL_ENCODER, 0);
  63         printf_P(PSTR("ok\r\n"));
  64 }
  65
  66 static uint8_t shovel_is_at_pos(int32_t pos)
  67 {
  68         int32_t diff;
  69         diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
  70         if (diff < 0)
  71                 diff = -diff;
  72         if (diff < 500)
  73                 return 1;
  74         return 0;
  75 }
  76
  77 void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
  78 {
  79         shovel_k1 = k1;
  80         shovel_k2 = k2;
  81 }
  82
  83 uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
  84 {
  85         *k1 = shovel_k1;
  86         *k2 = shovel_k2;
  87         return shovel_current_limit;
  88 }
  89
  90 void shovel_current_limit_enable(uint8_t enable)
  91 {
  92         shovel_current_limit = enable;
  93 }
  94
  95 /* Set CS command for shovel. Called by CS manager. */
  96 void shovel_set(void *mot, int32_t cmd)
  97 {
  98         static int32_t oldpos;
  99         int32_t pos, maxcmd, speed;
 100
 101         pos = encoders_spi_get_value(SHOVEL_ENCODER);
 102         if (shovel_current_limit) {
 103                 speed = pos - oldpos;
 104                 if (speed > 0 && cmd < 0)
 105                         maxcmd = shovel_k1;
 106                 else if (speed < 0 && cmd > 0)
 107                         maxcmd = shovel_k1;
 108                 else {
 109                         speed = ABS(speed);
 110                         maxcmd = shovel_k1 + shovel_k2 * speed;
 111                 }
 112                 if (cmd > maxcmd)
 113                         cmd = maxcmd;
 114                 else if (cmd < -maxcmd)
 115                         cmd = -maxcmd;
 116         }
 117
 118         pwm_ng_set(mot, cmd);
 119         oldpos = pos;
 120 }
 121
 122 void shovel_down(void)
 123 {
 124         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
 125         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
 126         cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
 127 }
 128
 129 void shovel_mid(void)
 130 {
 131         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
 132         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
 133         cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
 134 }
 135
 136 void shovel_up(void)
 137 {
 138         if (state_get_cob_count() <= 1)
 139                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
 140         else
 141                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
 142         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
 143         cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 144 }
 145
 146 void shovel_kickstand(void)
 147 {
 148         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
 149         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
 150         cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND);
 151 }
 152
 153 uint8_t shovel_is_up(void)
 154 {
 155         return shovel_is_at_pos(SHOVEL_UP);
 156 }
 157
 158 uint8_t shovel_is_down(void)
 159 {
 160         return shovel_is_at_pos(SHOVEL_DOWN);
 161 }
 162
 163 void shovel_init(void)
 164 {
 165         shovel_autopos();
 166         cobboard.shovel.on = 1;
 167 }