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  5250
  48 #define SHOVEL_UP   11000
  49
  50 /* init spickle position at beginning */
  51 static void shovel_autopos(void)
  52 {
  53         printf_P(PSTR("shovel autopos..."));
  54         pwm_ng_set(SHOVEL_PWM, -500);
  55         wait_ms(1000);
  56         pwm_ng_set(LEFT_SPICKLE_PWM, 0);
  57         encoders_spi_set_value(SHOVEL_ENCODER, 0);
  58         printf_P(PSTR("ok\r\n"));
  59 }
  60
  61 static uint8_t shovel_is_at_pos(int32_t pos)
  62 {
  63         int32_t diff;
  64         diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
  65         if (diff < 0)
  66                 diff = -diff;
  67         if (diff < 500)
  68                 return 1;
  69         return 0;
  70 }
  71
  72 void shovel_down(void)
  73 {
  74         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
  75         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
  76         cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
  77 }
  78
  79 void shovel_mid(void)
  80 {
  81         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
  82         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
  83         cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
  84 }
  85
  86 void shovel_up(void)
  87 {
  88         if (state_get_cob_count() <= 1)
  89                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
  90         else
  91                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
  92         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
  93         cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
  94 }
  95
  96 uint8_t shovel_is_up(void)
  97 {
  98         return shovel_is_at_pos(SHOVEL_UP);
  99 }
 100
 101 uint8_t shovel_is_down(void)
 102 {
 103         return shovel_is_at_pos(SHOVEL_DOWN);
 104 }
 105
 106 void shovel_init(void)
 107 {
 108         shovel_autopos();
 109         cobboard.shovel.on = 1;
 110 }