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   11300
  49 #define SHOVEL_KICKSTAND_UP   13400
  50 #define SHOVEL_KICKSTAND_DOWN 10400
  51
  52 static int32_t shovel_k1 = 1000;
  53 static int32_t shovel_k2 = 20;
  54 static uint8_t shovel_current_limit = 1;
  55
  56 /* init spickle position at beginning */
  57 static void shovel_autopos(void)
  58 {
  59         printf_P(PSTR("shovel autopos..."));
  60         pwm_ng_set(SHOVEL_PWM, -500);
  61         wait_ms(1000);
  62         pwm_ng_set(LEFT_SPICKLE_PWM, 0);
  63         encoders_spi_set_value(SHOVEL_ENCODER, 0);
  64         printf_P(PSTR("ok\r\n"));
  65 }
  66
  67 static uint8_t shovel_is_at_pos(int32_t pos)
  68 {
  69         int32_t diff;
  70         diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
  71         if (diff < 0)
  72                 diff = -diff;
  73         if (diff < 500)
  74                 return 1;
  75         return 0;
  76 }
  77
  78 void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
  79 {
  80         shovel_k1 = k1;
  81         shovel_k2 = k2;
  82 }
  83
  84 uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
  85 {
  86         *k1 = shovel_k1;
  87         *k2 = shovel_k2;
  88         return shovel_current_limit;
  89 }
  90
  91 void shovel_current_limit_enable(uint8_t enable)
  92 {
  93         shovel_current_limit = enable;
  94 }
  95
  96 /* Set CS command for shovel. Called by CS manager. */
  97 void shovel_set(void *mot, int32_t cmd)
  98 {
  99         static int32_t oldpos;
 100         int32_t pos, maxcmd, speed;
 101
 102         pos = encoders_spi_get_value(SHOVEL_ENCODER);
 103         if (shovel_current_limit) {
 104                 speed = pos - oldpos;
 105                 if (speed > 0 && cmd < 0)
 106                         maxcmd = shovel_k1;
 107                 else if (speed < 0 && cmd > 0)
 108                         maxcmd = shovel_k1;
 109                 else {
 110                         speed = ABS(speed);
 111                         maxcmd = shovel_k1 + shovel_k2 * speed;
 112                 }
 113                 if (cmd > maxcmd)
 114                         cmd = maxcmd;
 115                 else if (cmd < -maxcmd)
 116                         cmd = -maxcmd;
 117         }
 118
 119         pwm_ng_set(mot, cmd);
 120         oldpos = pos;
 121 }
 122
 123 void shovel_down(void)
 124 {
 125         shovel_current_limit_enable(0);
 126         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
 127         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
 128         cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
 129 }
 130
 131 void shovel_mid(void)
 132 {
 133         shovel_current_limit_enable(0);
 134         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
 135         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
 136         cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
 137 }
 138
 139 void shovel_up(void)
 140 {
 141         shovel_current_limit_enable(0);
 142         if (state_get_cob_count() <= 1)
 143                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 700, 2500);
 144         else
 145                 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
 146         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
 147         cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
 148 }
 149
 150 void shovel_kickstand_up(void)
 151 {
 152         shovel_set_current_limit_coefs(1000, 20);
 153         shovel_current_limit_enable(1);
 154         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
 155         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
 156         cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_UP);
 157 }
 158
 159 void shovel_kickstand_down(void)
 160 {
 161         shovel_set_current_limit_coefs(500, 0);
 162         shovel_current_limit_enable(1);
 163         quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
 164         quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
 165         cs_set_consign(&cobboard.shovel.cs, SHOVEL_KICKSTAND_DOWN);
 166 }
 167
 168 uint8_t shovel_is_up(void)
 169 {
 170         return shovel_is_at_pos(SHOVEL_UP);
 171 }
 172
 173 uint8_t shovel_is_down(void)
 174 {
 175         return shovel_is_at_pos(SHOVEL_DOWN);
 176 }
 177
 178 uint8_t shovel_is_mid(void)
 179 {
 180         return shovel_is_at_pos(SHOVEL_MID);
 181 }
 182
 183 void shovel_init(void)
 184 {
 185         shovel_autopos();
 186         cobboard.shovel.on = 1;
 187 }