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 <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 /* called every 5 ms */
  58 static void do_cs(void *dummy)
  59 {
  60         static uint16_t cpt = 0;
  61         static int32_t old_a = 0, old_d = 0;
  62
  63         /* read encoders */
  64         if (mainboard.flags & DO_ENCODERS) {
  65                 encoders_spi_manage(NULL);
  66         }
  67
  68         /* XXX there is an issue which is probably related to avr-libc
  69          * 1.6.2 (debian): this code using fixed_point lib does not
  70          * work with it */
  71         /* robot system, conversion to angle,distance */
  72         if (mainboard.flags & DO_RS) {
  73                 int16_t a,d;
  74                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
  75                 /* process and store current speed */
  76                 a = rs_get_angle(&mainboard.rs);
  77                 d = rs_get_distance(&mainboard.rs);
  78                 mainboard.speed_a = a - old_a;
  79                 mainboard.speed_d = d - old_d;
  80                 old_a = a;
  81                 old_d = d;
  82         }
  83
  84         /* control system */
  85         if (mainboard.flags & DO_CS) {
  86                 if (mainboard.angle.on)
  87                         cs_manage(&mainboard.angle.cs);
  88                 if (mainboard.distance.on)
  89                         cs_manage(&mainboard.distance.cs);
  90         }
  91         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
  92                 /* about 1.5ms (worst case without centrifugal force
  93                  * compensation) */
  94                 position_manage(&mainboard.pos);
  95         }
  96         if (mainboard.flags & DO_BD) {
  97                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
  98                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
  99         }
 100         if (mainboard.flags & DO_TIMER) {
 101                 uint8_t second;
 102                 /* the robot should stop correctly in the strat, but
 103                  * in some cases, we must force the stop from an
 104                  * interrupt */
 105                 second = time_get_s();
 106                 if (second >= MATCH_TIME + 2) {
 107                         pwm_ng_set(LEFT_PWM, 0);
 108                         pwm_ng_set(RIGHT_PWM, 0);
 109                         printf_P(PSTR("END OF TIME\r\n"));
 110                         while(1);
 111                 }
 112         }
 113         /* brakes */
 114         if (mainboard.flags & DO_POWER)
 115                 BRAKE_OFF();
 116         else
 117                 BRAKE_ON();
 118         cpt++;
 119 }
 120
 121 void dump_cs_debug(const char *name, struct cs *cs)
 122 {
 123         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
 124               "in=% .5ld out=% .5ld",
 125               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 126               cs_get_error(cs), cs_get_filtered_feedback(cs),
 127               cs_get_out(cs));
 128 }
 129
 130 void dump_cs(const char *name, struct cs *cs)
 131 {
 132         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 133                       "in=% .5ld out=% .5ld\r\n"),
 134                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 135                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 136                  cs_get_out(cs));
 137 }
 138
 139 void dump_pid(const char *name, struct pid_filter *pid)
 140 {
 141         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 142                  name,
 143                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 144                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 145                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 146                  pid_get_value_out(pid));
 147 }
 148
 149 void microb_cs_init(void)
 150 {
 151         /* ROBOT_SYSTEM */
 152         rs_init(&mainboard.rs);
 153         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 154         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 155         /* increase gain to decrease dist, increase left and it will turn more left */
 156         rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 157                                 LEFT_ENCODER, IMP_COEF * 1.0015);
 158         rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
 159                                  RIGHT_ENCODER, IMP_COEF * -1.006);
 160         /* rs will use external encoders */
 161         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 162
 163         /* POSITION MANAGER */
 164         position_init(&mainboard.pos);
 165         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 166         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 167         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 168         position_use_ext(&mainboard.pos);
 169
 170         /* TRAJECTORY MANAGER */
 171         trajectory_init(&mainboard.traj);
 172         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 173                           &mainboard.angle.cs);
 174         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 175         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 176         /* distance window, angle window, angle start */
 177         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 178
 179         /* ---- CS angle */
 180         /* PID */
 181         pid_init(&mainboard.angle.pid);
 182         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 183         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 184         pid_set_out_shift(&mainboard.angle.pid, 10);
 185         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 186
 187         /* QUADRAMP */
 188         quadramp_init(&mainboard.angle.qr);
 189         quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
 190         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
 191
 192         /* CS */
 193         cs_init(&mainboard.angle.cs);
 194         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 195         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 196         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 197         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 198         cs_set_consign(&mainboard.angle.cs, 0);
 199
 200         /* Blocking detection */
 201         bd_init(&mainboard.angle.bd);
 202         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 203         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 204
 205         /* ---- CS distance */
 206         /* PID */
 207         pid_init(&mainboard.distance.pid);
 208         pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
 209         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 210         pid_set_out_shift(&mainboard.distance.pid, 10);
 211         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 212
 213         /* QUADRAMP */
 214         quadramp_init(&mainboard.distance.qr);
 215         quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
 216         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
 217
 218         /* CS */
 219         cs_init(&mainboard.distance.cs);
 220         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 221         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 222         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 223         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 224         cs_set_consign(&mainboard.distance.cs, 0);
 225
 226         /* Blocking detection */
 227         bd_init(&mainboard.distance.bd);
 228         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 229         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 230
 231         /* set them on !! */
 232         mainboard.angle.on = 1;
 233         mainboard.distance.on = 1;
 234
 235
 236         scheduler_add_periodical_event_priority(do_cs, NULL,
 237                                                 5000L / SCHEDULER_UNIT,
 238                                                 CS_PRIO);
 239 }