projects/microb2010/mainboard/cs.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   5  *  This program is free software; you can redistribute it and/or modify
   6  *  it under the terms of the GNU General Public License as published by
   7  *  the Free Software Foundation; either version 2 of the License, or
   8  *  (at your option) any later version.
   9  *
  10  *  This program is distributed in the hope that it will be useful,
  11  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  *  GNU General Public License for more details.
  14  *
  15  *  You should have received a copy of the GNU General Public License
  16  *  along with this program; if not, write to the Free Software
  17  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18  *
  19  *  Revision : $Id: cs.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <spi.h>
  31 #include <encoders_spi.h>
  32 #include <pwm_ng.h>
  33 #include <timer.h>
  34 #include <scheduler.h>
  35 #include <clock_time.h>
  36 #include <adc.h>
  37
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <trajectory_manager.h>
  42 #include <vect_base.h>
  43 #include <lines.h>
  44 #include <polygon.h>
  45 #include <obstacle_avoidance.h>
  46 #include <blocking_detection_manager.h>
  47 #include <robot_system.h>
  48 #include <position_manager.h>
  49
  50 #include <parse.h>
  51 #include <rdline.h>
  52
  53 #include "main.h"
  54 #include "strat.h"
  55 #include "actuator.h"
  56
  57 int32_t encoders_left_cobroller_speed(void *number)
  58 {
  59         static volatile int32_t roller_pos;
  60         int32_t tmp, speed;
  61         tmp = encoders_spi_get_value(number);
  62         speed = tmp - roller_pos;
  63         roller_pos = tmp;
  64         return speed;
  65 }
  66
  67 int32_t encoders_right_cobroller_speed(void *number)
  68 {
  69         static volatile int32_t roller_pos;
  70         int32_t tmp, speed;
  71         tmp = encoders_spi_get_value(number);
  72         speed = tmp - roller_pos;
  73         roller_pos = tmp;
  74         return speed;
  75 }
  76
  77 /* called every 5 ms */
  78 static void do_cs(void *dummy)
  79 {
  80         static uint16_t cpt = 0;
  81         static int32_t old_a = 0, old_d = 0;
  82
  83         /* read encoders */
  84         if (mainboard.flags & DO_ENCODERS) {
  85                 encoders_spi_manage(NULL);
  86         }
  87
  88         /* XXX there is an issue which is probably related to avr-libc
  89          * 1.6.2 (debian): this code using fixed_point lib does not
  90          * work with it */
  91         /* robot system, conversion to angle,distance */
  92         if (mainboard.flags & DO_RS) {
  93                 int16_t a,d;
  94                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
  95                 /* process and store current speed */
  96                 a = rs_get_angle(&mainboard.rs);
  97                 d = rs_get_distance(&mainboard.rs);
  98                 mainboard.speed_a = a - old_a;
  99                 mainboard.speed_d = d - old_d;
 100                 old_a = a;
 101                 old_d = d;
 102         }
 103
 104         /* control system */
 105         if (mainboard.flags & DO_CS) {
 106                 if (mainboard.angle.on)
 107                         cs_manage(&mainboard.angle.cs);
 108                 if (mainboard.distance.on)
 109                         cs_manage(&mainboard.distance.cs);
 110                 if (mainboard.left_cobroller.on)
 111                         cs_manage(&mainboard.left_cobroller.cs);
 112                 if (mainboard.right_cobroller.on)
 113                         cs_manage(&mainboard.right_cobroller.cs);
 114         }
 115         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
 116                 /* about 1.5ms (worst case without centrifugal force
 117                  * compensation) */
 118                 position_manage(&mainboard.pos);
 119         }
 120         if (mainboard.flags & DO_BD) {
 121                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 122                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 123                 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
 124                 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
 125         }
 126         if (mainboard.flags & DO_TIMER) {
 127                 uint8_t second;
 128                 /* the robot should stop correctly in the strat, but
 129                  * in some cases, we must force the stop from an
 130                  * interrupt */
 131                 second = time_get_s();
 132                 if (second >= MATCH_TIME + 2) {
 133                         pwm_ng_set(LEFT_PWM, 0);
 134                         pwm_ng_set(RIGHT_PWM, 0);
 135                         printf_P(PSTR("END OF TIME\r\n"));
 136                         while(1);
 137                 }
 138         }
 139         /* brakes */
 140         if (mainboard.flags & DO_POWER)
 141                 BRAKE_OFF();
 142         else
 143                 BRAKE_ON();
 144         cpt++;
 145 }
 146
 147 void dump_cs_debug(const char *name, struct cs *cs)
 148 {
 149         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
 150               "in=% .5ld out=% .5ld",
 151               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 152               cs_get_error(cs), cs_get_filtered_feedback(cs),
 153               cs_get_out(cs));
 154 }
 155
 156 void dump_cs(const char *name, struct cs *cs)
 157 {
 158         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 159                       "in=% .5ld out=% .5ld\r\n"),
 160                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 161                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 162                  cs_get_out(cs));
 163 }
 164
 165 void dump_pid(const char *name, struct pid_filter *pid)
 166 {
 167         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 168                  name,
 169                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 170                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 171                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 172                  pid_get_value_out(pid));
 173 }
 174
 175 void microb_cs_init(void)
 176 {
 177         /* ROBOT_SYSTEM */
 178         rs_init(&mainboard.rs);
 179         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 180         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 181         /* increase gain to decrease dist, increase left and it will turn more left */
 182         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 183                                 LEFT_ENCODER, IMP_COEF * -1.00);
 184         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 185                                  RIGHT_ENCODER, IMP_COEF * 1.00);
 186         /* rs will use external encoders */
 187         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 188
 189         /* POSITION MANAGER */
 190         position_init(&mainboard.pos);
 191         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 192         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 193         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 194         position_use_ext(&mainboard.pos);
 195
 196         /* TRAJECTORY MANAGER */
 197         trajectory_init(&mainboard.traj);
 198         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 199                           &mainboard.angle.cs);
 200         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 201         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 202         /* distance window, angle window, angle start */
 203         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 204
 205         /* ---- CS angle */
 206         /* PID */
 207         pid_init(&mainboard.angle.pid);
 208         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 209         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 210         pid_set_out_shift(&mainboard.angle.pid, 10);
 211         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 212
 213         /* QUADRAMP */
 214         quadramp_init(&mainboard.angle.qr);
 215         quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
 216         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
 217
 218         /* CS */
 219         cs_init(&mainboard.angle.cs);
 220         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 221         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 222         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 223         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 224         cs_set_consign(&mainboard.angle.cs, 0);
 225
 226         /* Blocking detection */
 227         bd_init(&mainboard.angle.bd);
 228         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 229         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 230
 231         /* ---- CS distance */
 232         /* PID */
 233         pid_init(&mainboard.distance.pid);
 234         pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
 235         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 236         pid_set_out_shift(&mainboard.distance.pid, 10);
 237         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 238
 239         /* QUADRAMP */
 240         quadramp_init(&mainboard.distance.qr);
 241         quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
 242         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
 243
 244         /* CS */
 245         cs_init(&mainboard.distance.cs);
 246         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 247         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 248         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 249         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 250         cs_set_consign(&mainboard.distance.cs, 0);
 251
 252         /* Blocking detection */
 253         bd_init(&mainboard.distance.bd);
 254         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 255         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 256
 257         /* ---- CS left_cobroller */
 258         /* PID */
 259         pid_init(&mainboard.left_cobroller.pid);
 260         pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
 261         pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
 262         pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
 263         pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 264
 265         /* CS */
 266         cs_init(&mainboard.left_cobroller.cs);
 267         cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
 268         cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
 269         cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
 270         cs_set_consign(&mainboard.left_cobroller.cs, 0);
 271
 272         /* Blocking detection */
 273         bd_init(&mainboard.left_cobroller.bd);
 274         bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
 275         bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
 276
 277         /* ---- CS right_cobroller */
 278         /* PID */
 279         pid_init(&mainboard.right_cobroller.pid);
 280         pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
 281         pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
 282         pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
 283         pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 284
 285         /* CS */
 286         cs_init(&mainboard.right_cobroller.cs);
 287         cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 288         cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
 289         cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 290         cs_set_consign(&mainboard.right_cobroller.cs, 0);
 291
 292         /* Blocking detection */
 293         bd_init(&mainboard.right_cobroller.bd);
 294         bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
 295         bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 296
 297         /* set them on !! */
 298         mainboard.angle.on = 0;
 299         mainboard.distance.on = 0;
 300         mainboard.left_cobroller.on = 1;
 301         mainboard.right_cobroller.on = 0;
 302
 303
 304         scheduler_add_periodical_event_priority(do_cs, NULL,
 305                                                 5000L / SCHEDULER_UNIT,
 306                                                 CS_PRIO);
 307 }