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 #include <stdint.h>
  26
  27 #include <aversive.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <spi.h>
  32 #include <encoders_spi.h>
  33 #include <pwm_ng.h>
  34 #include <timer.h>
  35 #include <scheduler.h>
  36 #include <clock_time.h>
  37 #include <adc.h>
  38
  39 #include <pid.h>
  40 #include <quadramp.h>
  41 #include <control_system_manager.h>
  42 #include <trajectory_manager.h>
  43 #include <vect_base.h>
  44 #include <lines.h>
  45 #include <polygon.h>
  46 #include <obstacle_avoidance.h>
  47 #include <blocking_detection_manager.h>
  48 #include <robot_system.h>
  49 #include <position_manager.h>
  50
  51 #include <parse.h>
  52 #include <rdline.h>
  53
  54 #include "main.h"
  55 #include "robotsim.h"
  56 #include "strat.h"
  57 #include "actuator.h"
  58
  59 void dump_cs(const char *name, struct cs *cs);
  60
  61 #ifndef HOST_VERSION
  62 int32_t encoders_left_cobroller_speed(void *number)
  63 {
  64         static volatile int32_t roller_pos;
  65         int32_t tmp, speed;
  66         tmp = encoders_spi_get_value(number);
  67         speed = tmp - roller_pos;
  68         roller_pos = tmp;
  69         return speed;
  70 }
  71
  72 int32_t encoders_right_cobroller_speed(void *number)
  73 {
  74         static volatile int32_t roller_pos;
  75         int32_t tmp, speed;
  76         tmp = encoders_spi_get_value(number);
  77         speed = tmp - roller_pos;
  78         roller_pos = tmp;
  79         return speed;
  80 }
  81 #endif
  82
  83 /* called every 5 ms */
  84 static void do_cs(void *dummy)
  85 {
  86         static uint16_t cpt = 0;
  87         static int32_t old_a = 0, old_d = 0;
  88
  89 #ifdef HOST_VERSION
  90         robotsim_update();
  91 #else
  92         /* read encoders */
  93         if (mainboard.flags & DO_ENCODERS) {
  94                 encoders_spi_manage(NULL);
  95         }
  96 #endif
  97
  98         /* robot system, conversion to angle,distance */
  99         if (mainboard.flags & DO_RS) {
 100                 int16_t a,d;
 101                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
 102                 /* process and store current speed */
 103                 a = rs_get_angle(&mainboard.rs);
 104                 d = rs_get_distance(&mainboard.rs);
 105                 mainboard.speed_a = a - old_a;
 106                 mainboard.speed_d = d - old_d;
 107                 old_a = a;
 108                 old_d = d;
 109         }
 110
 111         /* control system */
 112         if (mainboard.flags & DO_CS) {
 113                 if (mainboard.angle.on)
 114                         cs_manage(&mainboard.angle.cs);
 115                 if (mainboard.distance.on)
 116                         cs_manage(&mainboard.distance.cs);
 117 #ifndef HOST_VERSION
 118                 if (mainboard.left_cobroller.on)
 119                         cs_manage(&mainboard.left_cobroller.cs);
 120                 if (mainboard.right_cobroller.on)
 121                         cs_manage(&mainboard.right_cobroller.cs);
 122 #endif
 123         }
 124         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
 125                 /* about 1.5ms (worst case without centrifugal force
 126                  * compensation) */
 127                 position_manage(&mainboard.pos);
 128         }
 129         if ((mainboard.flags & DO_BD) && (mainboard.flags & DO_POWER)) {
 130                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 131                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 132 #ifndef HOST_VERSION
 133                 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
 134                 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
 135                 if (mainboard.flags & DO_ERRBLOCKING) {
 136                         if (bd_get(&mainboard.left_cobroller.bd) ||
 137                             bd_get(&mainboard.left_cobroller.bd)) {
 138                                 printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 139                                 mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 140                         }
 141                 }
 142 #endif
 143         }
 144 #ifndef HOST_VERSION
 145         if (mainboard.flags & DO_TIMER) {
 146                 uint8_t second;
 147                 /* the robot should stop correctly in the strat, but
 148                  * in some cases, we must force the stop from an
 149                  * interrupt */
 150                 second = time_get_s();
 151                 if (second >= MATCH_TIME + 2) {
 152                         pwm_ng_set(LEFT_PWM, 0);
 153                         pwm_ng_set(RIGHT_PWM, 0);
 154                         printf_P(PSTR("END OF TIME\r\n"));
 155                         while(1);
 156                 }
 157         }
 158 #endif
 159         /* brakes */
 160         if (mainboard.flags & DO_POWER)
 161                 BRAKE_OFF();
 162         else
 163                 BRAKE_ON();
 164         cpt++;
 165
 166 #ifdef HOST_VERSION
 167         if ((cpt & 7) == 0) {
 168                 //              dump_cs("dist", &mainboard.distance.cs);
 169                 robotsim_dump();
 170         }
 171 #endif
 172 }
 173
 174 void dump_cs_debug(const char *name, struct cs *cs)
 175 {
 176         DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 177               "in=% .5"PRIi32" out=% .5"PRIi32"",
 178               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 179               cs_get_error(cs), cs_get_filtered_feedback(cs),
 180               cs_get_out(cs));
 181 }
 182
 183 void dump_cs(const char *name, struct cs *cs)
 184 {
 185         printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 186                       "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
 187                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 188                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 189                  cs_get_out(cs));
 190 }
 191
 192 void dump_pid(const char *name, struct pid_filter *pid)
 193 {
 194         printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 195                  name,
 196                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 197                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 198                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 199                  pid_get_value_out(pid));
 200 }
 201
 202 void microb_cs_init(void)
 203 {
 204         /* ROBOT_SYSTEM */
 205         rs_init(&mainboard.rs);
 206         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 207         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 208         /* increase gain to decrease dist, increase left and it will turn more left */
 209 #ifdef HOST_VERSION
 210         rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 211                                 LEFT_ENCODER, IMP_COEF * 1.);
 212         rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 213                                  RIGHT_ENCODER, IMP_COEF * 1.);
 214 #else
 215         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 216                                 LEFT_ENCODER, IMP_COEF * -1.011718);
 217         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 218                                  RIGHT_ENCODER, IMP_COEF * 1.012695);
 219 #endif
 220         /* rs will use external encoders */
 221         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 222
 223         /* POSITION MANAGER */
 224         position_init(&mainboard.pos);
 225         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 226         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 227         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 228         position_use_ext(&mainboard.pos);
 229
 230         /* TRAJECTORY MANAGER */
 231         trajectory_init(&mainboard.traj, CS_HZ);
 232         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 233                           &mainboard.angle.cs);
 234         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 235         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 236         trajectory_set_acc(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
 237         /* distance window, angle window, angle start */
 238         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 239
 240         /* ---- CS angle */
 241         /* PID */
 242         pid_init(&mainboard.angle.pid);
 243         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 244         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 245         pid_set_out_shift(&mainboard.angle.pid, 10);
 246         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 247
 248         /* QUADRAMP */
 249         quadramp_init(&mainboard.angle.qr);
 250         quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
 251         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
 252
 253         /* CS */
 254         cs_init(&mainboard.angle.cs);
 255         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 256         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 257         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 258         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 259         cs_set_consign(&mainboard.angle.cs, 0);
 260
 261         /* Blocking detection */
 262         bd_init(&mainboard.angle.bd);
 263         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 264         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
 265
 266         /* ---- CS distance */
 267         /* PID */
 268         pid_init(&mainboard.distance.pid);
 269         pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
 270         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 271         pid_set_out_shift(&mainboard.distance.pid, 10);
 272         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 273
 274         /* QUADRAMP */
 275         quadramp_init(&mainboard.distance.qr);
 276         quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
 277         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
 278
 279         /* CS */
 280         cs_init(&mainboard.distance.cs);
 281         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 282         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 283         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 284         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 285         cs_set_consign(&mainboard.distance.cs, 0);
 286
 287         /* Blocking detection */
 288         bd_init(&mainboard.distance.bd);
 289         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 290         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 291
 292 #ifndef HOST_VERSION
 293         /* ---- CS left_cobroller */
 294         /* PID */
 295         pid_init(&mainboard.left_cobroller.pid);
 296         pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
 297         pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
 298         pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
 299         pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 300
 301         /* CS */
 302         cs_init(&mainboard.left_cobroller.cs);
 303         cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
 304         cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
 305         cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
 306         cs_set_consign(&mainboard.left_cobroller.cs, 0);
 307
 308         /* Blocking detection */
 309         bd_init(&mainboard.left_cobroller.bd);
 310         bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
 311         bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
 312
 313         /* ---- CS right_cobroller */
 314         /* PID */
 315         pid_init(&mainboard.right_cobroller.pid);
 316         pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
 317         pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
 318         pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
 319         pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 320
 321         /* CS */
 322         cs_init(&mainboard.right_cobroller.cs);
 323         cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 324         cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
 325         cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 326         cs_set_consign(&mainboard.right_cobroller.cs, 0);
 327
 328         /* Blocking detection */
 329         bd_init(&mainboard.right_cobroller.bd);
 330         bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
 331         bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 332 #endif /* !HOST_VERSION */
 333
 334         /* set them on !! */
 335         mainboard.angle.on = 1;
 336         mainboard.distance.on = 1;
 337         mainboard.left_cobroller.on = 1;
 338         mainboard.right_cobroller.on = 1;
 339
 340
 341         scheduler_add_periodical_event_priority(do_cs, NULL,
 342                                                 5000L / SCHEDULER_UNIT,
 343                                                 CS_PRIO);
 344 }