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