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