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 #ifndef HOST_VERSION
  60 int32_t encoders_left_cobroller_speed(void *number)
  61 {
  62         static volatile int32_t roller_pos;
  63         int32_t tmp, speed;
  64         tmp = encoders_spi_get_value(number);
  65         speed = tmp - roller_pos;
  66         roller_pos = tmp;
  67         return speed;
  68 }
  69
  70 int32_t encoders_right_cobroller_speed(void *number)
  71 {
  72         static volatile int32_t roller_pos;
  73         int32_t tmp, speed;
  74         tmp = encoders_spi_get_value(number);
  75         speed = tmp - roller_pos;
  76         roller_pos = tmp;
  77         return speed;
  78 }
  79 #endif
  80
  81 /* called every 5 ms */
  82 static void do_cs(void *dummy)
  83 {
  84         static uint16_t cpt = 0;
  85         static int32_t old_a = 0, old_d = 0;
  86
  87 #ifdef HOST_VERSION
  88         robotsim_update();
  89 #else
  90         /* read encoders */
  91         if (mainboard.flags & DO_ENCODERS) {
  92                 encoders_spi_manage(NULL);
  93         }
  94 #endif
  95
  96         /* robot system, conversion to angle,distance */
  97         if (mainboard.flags & DO_RS) {
  98                 int16_t a,d;
  99                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
 100                 /* process and store current speed */
 101                 a = rs_get_angle(&mainboard.rs);
 102                 d = rs_get_distance(&mainboard.rs);
 103                 mainboard.speed_a = a - old_a;
 104                 mainboard.speed_d = d - old_d;
 105                 old_a = a;
 106                 old_d = d;
 107         }
 108
 109         /* control system */
 110         if (mainboard.flags & DO_CS) {
 111                 if (mainboard.angle.on)
 112                         cs_manage(&mainboard.angle.cs);
 113                 if (mainboard.distance.on)
 114                         cs_manage(&mainboard.distance.cs);
 115 #ifndef HOST_VERSION
 116                 if (mainboard.left_cobroller.on)
 117                         cs_manage(&mainboard.left_cobroller.cs);
 118                 if (mainboard.right_cobroller.on)
 119                         cs_manage(&mainboard.right_cobroller.cs);
 120 #endif
 121         }
 122         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
 123                 /* about 1.5ms (worst case without centrifugal force
 124                  * compensation) */
 125                 position_manage(&mainboard.pos);
 126         }
 127         if (mainboard.flags & DO_BD) {
 128                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 129                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 130 #ifndef HOST_VERSION
 131                 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
 132                 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
 133 #endif
 134         }
 135 #ifndef HOST_VERSION
 136         if (mainboard.flags & DO_TIMER) {
 137                 uint8_t second;
 138                 /* the robot should stop correctly in the strat, but
 139                  * in some cases, we must force the stop from an
 140                  * interrupt */
 141                 second = time_get_s();
 142                 if (second >= MATCH_TIME + 2) {
 143                         pwm_ng_set(LEFT_PWM, 0);
 144                         pwm_ng_set(RIGHT_PWM, 0);
 145                         printf_P(PSTR("END OF TIME\r\n"));
 146                         while(1);
 147                 }
 148         }
 149 #endif
 150         /* brakes */
 151         if (mainboard.flags & DO_POWER)
 152                 BRAKE_OFF();
 153         else
 154                 BRAKE_ON();
 155         cpt++;
 156
 157 #ifdef HOST_VERSION
 158         if ((cpt & 7) == 0)
 159                 robotsim_dump();
 160 #endif
 161 }
 162
 163 void dump_cs_debug(const char *name, struct cs *cs)
 164 {
 165         DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 166               "in=% .5"PRIi32" out=% .5"PRIi32"",
 167               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 168               cs_get_error(cs), cs_get_filtered_feedback(cs),
 169               cs_get_out(cs));
 170 }
 171
 172 void dump_cs(const char *name, struct cs *cs)
 173 {
 174         printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 175                       "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
 176                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 177                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 178                  cs_get_out(cs));
 179 }
 180
 181 void dump_pid(const char *name, struct pid_filter *pid)
 182 {
 183         printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 184                  name,
 185                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 186                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 187                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 188                  pid_get_value_out(pid));
 189 }
 190
 191 void microb_cs_init(void)
 192 {
 193         /* ROBOT_SYSTEM */
 194         rs_init(&mainboard.rs);
 195         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 196         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 197         /* increase gain to decrease dist, increase left and it will turn more left */
 198 #ifdef HOST_VERSION
 199         rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 200                                 LEFT_ENCODER, IMP_COEF);
 201         rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 202                                  RIGHT_ENCODER, IMP_COEF);
 203 #else
 204         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 205                                 LEFT_ENCODER, IMP_COEF * -1.00);
 206         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 207                                  RIGHT_ENCODER, IMP_COEF * 1.00);
 208 #endif
 209         /* rs will use external encoders */
 210         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 211
 212         /* POSITION MANAGER */
 213         position_init(&mainboard.pos);
 214         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 215         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 216         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 217         position_use_ext(&mainboard.pos);
 218
 219         /* TRAJECTORY MANAGER */
 220         trajectory_init(&mainboard.traj);
 221         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 222                           &mainboard.angle.cs);
 223         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 224         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 225         /* distance window, angle window, angle start */
 226         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 227
 228         /* ---- CS angle */
 229         /* PID */
 230         pid_init(&mainboard.angle.pid);
 231         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 232         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 233         pid_set_out_shift(&mainboard.angle.pid, 10);
 234         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 235
 236         /* QUADRAMP */
 237         quadramp_init(&mainboard.angle.qr);
 238         quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
 239         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
 240
 241         /* CS */
 242         cs_init(&mainboard.angle.cs);
 243         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 244         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 245         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 246         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 247         cs_set_consign(&mainboard.angle.cs, 0);
 248
 249         /* Blocking detection */
 250         bd_init(&mainboard.angle.bd);
 251         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 252         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 253
 254         /* ---- CS distance */
 255         /* PID */
 256         pid_init(&mainboard.distance.pid);
 257         pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
 258         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 259         pid_set_out_shift(&mainboard.distance.pid, 10);
 260         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 261
 262         /* QUADRAMP */
 263         quadramp_init(&mainboard.distance.qr);
 264         quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
 265         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
 266
 267         /* CS */
 268         cs_init(&mainboard.distance.cs);
 269         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 270         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 271         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 272         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 273         cs_set_consign(&mainboard.distance.cs, 0);
 274
 275         /* Blocking detection */
 276         bd_init(&mainboard.distance.bd);
 277         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 278         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 279
 280 #ifndef HOST_VERSION
 281         /* ---- CS left_cobroller */
 282         /* PID */
 283         pid_init(&mainboard.left_cobroller.pid);
 284         pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
 285         pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
 286         pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
 287         pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 288
 289         /* CS */
 290         cs_init(&mainboard.left_cobroller.cs);
 291         cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
 292         cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
 293         cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
 294         cs_set_consign(&mainboard.left_cobroller.cs, 0);
 295
 296         /* Blocking detection */
 297         bd_init(&mainboard.left_cobroller.bd);
 298         bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
 299         bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
 300
 301         /* ---- CS right_cobroller */
 302         /* PID */
 303         pid_init(&mainboard.right_cobroller.pid);
 304         pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
 305         pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
 306         pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
 307         pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 308
 309         /* CS */
 310         cs_init(&mainboard.right_cobroller.cs);
 311         cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 312         cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
 313         cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 314         cs_set_consign(&mainboard.right_cobroller.cs, 0);
 315
 316         /* Blocking detection */
 317         bd_init(&mainboard.right_cobroller.bd);
 318         bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
 319         bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 320 #endif /* !HOST_VERSION */
 321
 322         /* set them on !! */
 323         mainboard.angle.on = 0;
 324         mainboard.distance.on = 0;
 325         mainboard.left_cobroller.on = 1;
 326         mainboard.right_cobroller.on = 0;
 327
 328
 329         scheduler_add_periodical_event_priority(do_cs, NULL,
 330                                                 5000L / SCHEDULER_UNIT,
 331                                                 CS_PRIO);
 332 }