projects/microb2010/tests/hostsim/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 <timer.h>
  31 #include <scheduler.h>
  32 #include <clock_time.h>
  33
  34 #include <pid.h>
  35 #include <quadramp.h>
  36 #include <control_system_manager.h>
  37 #include <trajectory_manager.h>
  38 #include <blocking_detection_manager.h>
  39 #include <robot_system.h>
  40 #include <position_manager.h>
  41
  42 #include <parse.h>
  43 #include <rdline.h>
  44
  45 #include "robotsim.h"
  46 #include "strat.h"
  47 #include "actuator.h"
  48 #include "main.h"
  49
  50 /* called every 5 ms */
  51 static void do_cs(void *dummy)
  52 {
  53         static uint16_t cpt = 0;
  54         static int32_t old_a = 0, old_d = 0;
  55
  56         robotsim_update();
  57
  58 #if 0
  59         /* read encoders */
  60         if (mainboard.flags & DO_ENCODERS) {
  61                 encoders_spi_manage(NULL);
  62         }
  63 #endif
  64
  65         /* XXX there is an issue which is probably related to avr-libc
  66          * 1.6.2 (debian): this code using fixed_point lib does not
  67          * work with it */
  68         /* robot system, conversion to angle,distance */
  69         if (mainboard.flags & DO_RS) {
  70                 int16_t a,d;
  71                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
  72                 /* process and store current speed */
  73                 a = rs_get_angle(&mainboard.rs);
  74                 d = rs_get_distance(&mainboard.rs);
  75                 mainboard.speed_a = a - old_a;
  76                 mainboard.speed_d = d - old_d;
  77                 old_a = a;
  78                 old_d = d;
  79         }
  80
  81         /* control system */
  82         if (mainboard.flags & DO_CS) {
  83                 if (mainboard.angle.on)
  84                         cs_manage(&mainboard.angle.cs);
  85                 if (mainboard.distance.on)
  86                         cs_manage(&mainboard.distance.cs);
  87         }
  88         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
  89                 /* about 1.5ms (worst case without centrifugal force
  90                  * compensation) */
  91                 position_manage(&mainboard.pos);
  92         }
  93         if (mainboard.flags & DO_BD) {
  94                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
  95                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
  96         }
  97 #if 0
  98         if (mainboard.flags & DO_TIMER) {
  99                 uint8_t second;
 100                 /* the robot should stop correctly in the strat, but
 101                  * in some cases, we must force the stop from an
 102                  * interrupt */
 103                 second = time_get_s();
 104                 if (second >= MATCH_TIME + 2) {
 105                         pwm_ng_set(LEFT_PWM, 0);
 106                         pwm_ng_set(RIGHT_PWM, 0);
 107                         printf_P(PSTR("END OF TIME\r\n"));
 108                         while(1);
 109                 }
 110         }
 111         /* brakes */
 112         if (mainboard.flags & DO_POWER)
 113                 BRAKE_OFF();
 114         else
 115                 BRAKE_ON();
 116 #endif
 117         cpt++;
 118
 119         if ((cpt & 7) == 0)
 120                 robotsim_dump();
 121         //dump_cs("distance", &mainboard.distance.cs);
 122         //dump_cs("angle", &mainboard.angle.cs);
 123 }
 124
 125 void dump_cs_debug(const char *name, struct cs *cs)
 126 {
 127         DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 128               "in=% .5"PRIi32" out=% .5"PRIi32"",
 129               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 130               cs_get_error(cs), cs_get_filtered_feedback(cs),
 131               cs_get_out(cs));
 132 }
 133
 134 void dump_cs(const char *name, struct cs *cs)
 135 {
 136         printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
 137                       "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
 138                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 139                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 140                  cs_get_out(cs));
 141 }
 142
 143 void dump_pid(const char *name, struct pid_filter *pid)
 144 {
 145         printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
 146                  name,
 147                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 148                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 149                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 150                  pid_get_value_out(pid));
 151 }
 152
 153 void microb_cs_init(void)
 154 {
 155         /* ROBOT_SYSTEM */
 156         rs_init(&mainboard.rs);
 157         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 158         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 159         /* increase gain to decrease dist, increase left and it will turn more left */
 160         rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 161                                 LEFT_ENCODER, IMP_COEF);
 162         rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
 163                                  RIGHT_ENCODER, IMP_COEF);
 164         /* rs will use external encoders */
 165         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 166
 167         /* POSITION MANAGER */
 168         position_init(&mainboard.pos);
 169         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 170         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 171         position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 172         position_use_ext(&mainboard.pos);
 173
 174         /* TRAJECTORY MANAGER */
 175         trajectory_init(&mainboard.traj);
 176         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 177                           &mainboard.angle.cs);
 178         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 179         trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
 180         /* distance window, angle window, angle start */
 181         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 182
 183         /* ---- CS angle */
 184         /* PID */
 185         pid_init(&mainboard.angle.pid);
 186         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 187         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 188         pid_set_out_shift(&mainboard.angle.pid, 10);
 189         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 190
 191         /* QUADRAMP */
 192         quadramp_init(&mainboard.angle.qr);
 193         quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
 194         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
 195
 196         /* CS */
 197         cs_init(&mainboard.angle.cs);
 198         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 199         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 200         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 201         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 202         cs_set_consign(&mainboard.angle.cs, 0);
 203
 204         /* Blocking detection */
 205         bd_init(&mainboard.angle.bd);
 206         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 207         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 208
 209         /* ---- CS distance */
 210         /* PID */
 211         pid_init(&mainboard.distance.pid);
 212         pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
 213         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 214         pid_set_out_shift(&mainboard.distance.pid, 10);
 215         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 216
 217         /* QUADRAMP */
 218         quadramp_init(&mainboard.distance.qr);
 219         quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
 220         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
 221
 222         /* CS */
 223         cs_init(&mainboard.distance.cs);
 224         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 225         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 226         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 227         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 228         cs_set_consign(&mainboard.distance.cs, 0);
 229
 230         /* Blocking detection */
 231         bd_init(&mainboard.distance.bd);
 232         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 233         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 234
 235         /* set them on !! */
 236         mainboard.angle.on = 1;
 237         mainboard.distance.on = 1;
 238
 239
 240         scheduler_add_periodical_event_priority(do_cs, NULL,
 241                                                 5000L / SCHEDULER_UNIT,
 242                                                 CS_PRIO);
 243 }