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) {
 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 #endif
 136         }
 137 #ifndef HOST_VERSION
 138         if (mainboard.flags & DO_TIMER) {
 139                 uint8_t second;
 140                 /* the robot should stop correctly in the strat, but
 141                  * in some cases, we must force the stop from an
 142                  * interrupt */
 143                 second = time_get_s();
 144                 if (second >= MATCH_TIME + 2) {
 145                         pwm_ng_set(LEFT_PWM, 0);
 146                         pwm_ng_set(RIGHT_PWM, 0);
 147                         printf_P(PSTR("END OF TIME\r\n"));
 148                         while(1);
 149                 }
 150         }
 151 #endif
 152         /* brakes */
 153         if (mainboard.flags & DO_POWER)
 154                 BRAKE_OFF();
 155         else
 156                 BRAKE_ON();
 157         cpt++;
 158
 159 #ifdef HOST_VERSION
 160         if ((cpt & 7) == 0) {
 161                 //              dump_cs("dist", &mainboard.distance.cs);
 162                 robotsim_dump();
 163         }
 164 #endif
 165 }
 166
 167 void dump_cs_debug(const char *name, struct cs *cs)
 168 {
 169         DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 170               "in=% .5"PRIi32" out=% .5"PRIi32"",
 171               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 172               cs_get_error(cs), cs_get_filtered_feedback(cs),
 173               cs_get_out(cs));
 174 }
 175
 176 void dump_cs(const char *name, struct cs *cs)
 177 {
 178         printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 179                       "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
 180                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 181                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 182                  cs_get_out(cs));
 183 }
 184
 185 void dump_pid(const char *name, struct pid_filter *pid)
 186 {
 187         printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 188                  name,
 189                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 190                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 191                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 192                  pid_get_value_out(pid));
 193 }
 194
 195 void microb_cs_init(void)
 196 {
 197         /* ROBOT_SYSTEM */
 198         rs_init(&mainboard.rs);
 199         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 200         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 201         /* increase gain to decrease dist, increase left and it will turn more left */
 202 #ifdef HOST_VERSION
 203         rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 204                                 LEFT_ENCODER, IMP_COEF * 1.);
 205         rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 206                                  RIGHT_ENCODER, IMP_COEF * 1.);
 207 #else
 208         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 209                                 LEFT_ENCODER, IMP_COEF * -1.036);
 210         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 211                                  RIGHT_ENCODER, IMP_COEF * 1.037);
 212 #endif
 213         /* rs will use external encoders */
 214         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 215
 216         /* POSITION MANAGER */
 217         position_init(&mainboard.pos);
 218         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 219         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 220         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 221         position_use_ext(&mainboard.pos);
 222
 223         /* TRAJECTORY MANAGER */
 224         trajectory_init(&mainboard.traj, CS_HZ);
 225         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 226                           &mainboard.angle.cs);
 227         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 228         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 229         trajectory_set_speed(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
 230         /* distance window, angle window, angle start */
 231         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 232
 233         /* ---- CS angle */
 234         /* PID */
 235         pid_init(&mainboard.angle.pid);
 236         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 237         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 238         pid_set_out_shift(&mainboard.angle.pid, 10);
 239         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 240
 241         /* QUADRAMP */
 242         quadramp_init(&mainboard.angle.qr);
 243         quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
 244         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
 245
 246         /* CS */
 247         cs_init(&mainboard.angle.cs);
 248         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 249         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 250         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 251         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 252         cs_set_consign(&mainboard.angle.cs, 0);
 253
 254         /* Blocking detection */
 255         bd_init(&mainboard.angle.bd);
 256         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 257         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 258
 259         /* ---- CS distance */
 260         /* PID */
 261         pid_init(&mainboard.distance.pid);
 262         pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
 263         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 264         pid_set_out_shift(&mainboard.distance.pid, 10);
 265         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 266
 267         /* QUADRAMP */
 268         quadramp_init(&mainboard.distance.qr);
 269         quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
 270         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
 271
 272         /* CS */
 273         cs_init(&mainboard.distance.cs);
 274         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 275         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 276         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 277         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 278         cs_set_consign(&mainboard.distance.cs, 0);
 279
 280         /* Blocking detection */
 281         bd_init(&mainboard.distance.bd);
 282         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 283         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 284
 285 #ifndef HOST_VERSION
 286         /* ---- CS left_cobroller */
 287         /* PID */
 288         pid_init(&mainboard.left_cobroller.pid);
 289         pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
 290         pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
 291         pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
 292         pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 293
 294         /* CS */
 295         cs_init(&mainboard.left_cobroller.cs);
 296         cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
 297         cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
 298         cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
 299         cs_set_consign(&mainboard.left_cobroller.cs, 0);
 300
 301         /* Blocking detection */
 302         bd_init(&mainboard.left_cobroller.bd);
 303         bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
 304         bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
 305
 306         /* ---- CS right_cobroller */
 307         /* PID */
 308         pid_init(&mainboard.right_cobroller.pid);
 309         pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
 310         pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
 311         pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
 312         pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 313
 314         /* CS */
 315         cs_init(&mainboard.right_cobroller.cs);
 316         cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 317         cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
 318         cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 319         cs_set_consign(&mainboard.right_cobroller.cs, 0);
 320
 321         /* Blocking detection */
 322         bd_init(&mainboard.right_cobroller.bd);
 323         bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
 324         bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 325 #endif /* !HOST_VERSION */
 326
 327         /* set them on !! */
 328         mainboard.angle.on = 0;
 329         mainboard.distance.on = 0;
 330         mainboard.left_cobroller.on = 1;
 331         mainboard.right_cobroller.on = 1;
 332
 333
 334         scheduler_add_periodical_event_priority(do_cs, NULL,
 335                                                 5000L / SCHEDULER_UNIT,
 336                                                 CS_PRIO);
 337 }