projects/microb2010/tests/test_board2008/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 1.7 2009-05-02 10:08:09 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/error.h>
  28 #include <aversive/wait.h>
  29
  30 #include <encoders_microb.h>
  31 #include <pwm_ng.h>
  32 #include <timer.h>
  33 #include <scheduler.h>
  34 #include <clock_time.h>
  35 #include <adc.h>
  36
  37 #include <pid.h>
  38 #include <quadramp.h>
  39 #include <control_system_manager.h>
  40 #include <trajectory_manager.h>
  41 #include <blocking_detection_manager.h>
  42 #include <robot_system.h>
  43 #include <position_manager.h>
  44
  45 #include <parse.h>
  46 #include <rdline.h>
  47
  48 #include "main.h"
  49 #include "actuator.h"
  50
  51 static int32_t wheel_speed = 0;
  52
  53 static int32_t wheel_get_value(void * dummy)
  54 {
  55         return wheel_speed;
  56 }
  57
  58 static void wheel_set(void *dummy, int32_t val)
  59 {
  60         if (val < 0)
  61                 val = 0;
  62         pwm_ng_set(WHEEL_PWM, val);
  63 }
  64
  65 static void wheel_update_value(void)
  66 {
  67         static int32_t prev = 0;
  68         int32_t val;
  69
  70         val = encoders_microb_get_value(WHEEL_ENC);
  71         wheel_speed = val - prev;
  72         prev = val;
  73 }
  74
  75 /* called every 5 ms */
  76 static void do_cs(void *dummy)
  77 {
  78         static uint16_t cpt = 0;
  79         static int32_t old_a = 0, old_d = 0;
  80
  81         wheel_update_value();
  82
  83         /* robot system, conversion to angle,distance */
  84         if (mainboard.flags & DO_RS) {
  85                 int16_t a,d;
  86                 rs_update(&mainboard.rs); /* takes about 0.5 ms */
  87                 /* process and store current speed */
  88                 a = rs_get_angle(&mainboard.rs);
  89                 d = rs_get_distance(&mainboard.rs);
  90                 mainboard.speed_a = a - old_a;
  91                 mainboard.speed_d = d - old_d;
  92                 old_a = a;
  93                 old_d = d;
  94         }
  95
  96         /* control system */
  97         if (mainboard.flags & DO_CS) {
  98                 if (mainboard.angle.on)
  99                         cs_manage(&mainboard.angle.cs);
 100                 if (mainboard.distance.on)
 101                         cs_manage(&mainboard.distance.cs);
 102                 if (mainboard.fessor.on) {
 103                         cs_manage(&mainboard.fessor.cs);
 104                         fessor_manage();
 105                 }
 106                 if (mainboard.wheel.on)
 107                         cs_manage(&mainboard.wheel.cs);
 108                 if (mainboard.elevator.on) {
 109                         cs_manage(&mainboard.elevator.cs);
 110                         elevator_manage();
 111                 }
 112         }
 113         if ((cpt & 1) && (mainboard.flags & DO_POS)) {
 114                 /* about 1.5ms (worst case without centrifugal force
 115                  * compensation) */
 116                 position_manage(&mainboard.pos);
 117         }
 118         if (mainboard.flags & DO_BD) {
 119                 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
 120                 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 121         }
 122         if (mainboard.flags & DO_TIMER) {
 123                 uint8_t second;
 124                 /* the robot should stop correctly in the strat, but
 125                  * in some cases, we must force the stop from an
 126                  * interrupt */
 127                 second = time_get_s();
 128                 if (second >= MATCH_TIME + 2) {
 129                         pwm_ng_set(LEFT_PWM, 0);
 130                         pwm_ng_set(RIGHT_PWM, 0);
 131                         printf_P(PSTR("END OF TIME\r\n"));
 132                         while(1);
 133                 }
 134         }
 135         /* brakes */
 136         if (mainboard.flags & DO_POWER)
 137                 BRAKE_OFF();
 138         else
 139                 BRAKE_ON();
 140         cpt++;
 141 }
 142
 143 void dump_cs_debug(const char *name, struct cs *cs)
 144 {
 145         DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
 146               "in=% .5ld out=% .5ld",
 147               name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 148               cs_get_error(cs), cs_get_filtered_feedback(cs),
 149               cs_get_out(cs));
 150 }
 151
 152 void dump_cs(const char *name, struct cs *cs)
 153 {
 154         printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
 155                       "in=% .5ld out=% .5ld\r\n"),
 156                  name, cs_get_consign(cs), cs_get_filtered_consign(cs),
 157                  cs_get_error(cs), cs_get_filtered_feedback(cs),
 158                  cs_get_out(cs));
 159 }
 160
 161 void dump_pid(const char *name, struct pid_filter *pid)
 162 {
 163         printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
 164                  name,
 165                  pid_get_value_in(pid) * pid_get_gain_P(pid),
 166                  pid_get_value_I(pid) * pid_get_gain_I(pid),
 167                  pid_get_value_D(pid) * pid_get_gain_D(pid),
 168                  pid_get_value_out(pid));
 169 }
 170
 171 void microb_cs_init(void)
 172 {
 173         /* ROBOT_SYSTEM */
 174         rs_init(&mainboard.rs);
 175         rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
 176         rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
 177         /* increase gain to decrease dist, increase left and it will turn more left */
 178         rs_set_left_ext_encoder(&mainboard.rs, encoders_microb_get_value,
 179                                 LEFT_ENCODER, IMP_COEF * -1.0000);
 180         rs_set_right_ext_encoder(&mainboard.rs, encoders_microb_get_value,
 181                                  RIGHT_ENCODER, IMP_COEF * 1.0000);
 182         /* rs will use external encoders */
 183         rs_set_flags(&mainboard.rs, RS_USE_EXT);
 184
 185         /* POSITION MANAGER */
 186         position_init(&mainboard.pos);
 187         position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 188         position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
 189         //position_set_centrifugal_coef(&mainboard.pos, 0.000016);
 190         position_use_ext(&mainboard.pos);
 191
 192         /* TRAJECTORY MANAGER */
 193         trajectory_init(&mainboard.traj);
 194         trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 195                           &mainboard.angle.cs);
 196         trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
 197         trajectory_set_speed(&mainboard.traj, 1500, 1500); /* d, a */
 198         /* distance window, angle window, angle start */
 199         trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 200
 201         /* ---- CS angle */
 202         /* PID */
 203         pid_init(&mainboard.angle.pid);
 204         pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
 205         pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
 206         pid_set_out_shift(&mainboard.angle.pid, 10);
 207         pid_set_derivate_filter(&mainboard.angle.pid, 4);
 208
 209         /* QUADRAMP */
 210         quadramp_init(&mainboard.angle.qr);
 211         quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
 212         quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
 213
 214         /* CS */
 215         cs_init(&mainboard.angle.cs);
 216         cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
 217         cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
 218         cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
 219         cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
 220         cs_set_consign(&mainboard.angle.cs, 0);
 221
 222         /* Blocking detection */
 223         bd_init(&mainboard.angle.bd);
 224         bd_set_speed_threshold(&mainboard.angle.bd, 80);
 225         bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
 226
 227         /* ---- CS distance */
 228         /* PID */
 229         pid_init(&mainboard.distance.pid);
 230         pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
 231         pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
 232         pid_set_out_shift(&mainboard.distance.pid, 10);
 233         pid_set_derivate_filter(&mainboard.distance.pid, 6);
 234
 235         /* QUADRAMP */
 236         quadramp_init(&mainboard.distance.qr);
 237         quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
 238         quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
 239
 240         /* CS */
 241         cs_init(&mainboard.distance.cs);
 242         cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
 243         cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
 244         cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
 245         cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
 246         cs_set_consign(&mainboard.distance.cs, 0);
 247
 248         /* Blocking detection */
 249         bd_init(&mainboard.distance.bd);
 250         bd_set_speed_threshold(&mainboard.distance.bd, 60);
 251         bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
 252
 253         /* ---- CS fessor */
 254
 255         fessor_autopos();
 256         /* PID */
 257         pid_init(&mainboard.fessor.pid);
 258         pid_set_gains(&mainboard.fessor.pid, 300, 10, 150);
 259         pid_set_maximums(&mainboard.fessor.pid, 0, 10000, 4095);
 260         pid_set_out_shift(&mainboard.fessor.pid, 10);
 261         pid_set_derivate_filter(&mainboard.fessor.pid, 4);
 262
 263         /* CS */
 264         cs_init(&mainboard.fessor.cs);
 265         cs_set_correct_filter(&mainboard.fessor.cs, pid_do_filter, &mainboard.fessor.pid);
 266         cs_set_process_in(&mainboard.fessor.cs, fessor_set, NULL);
 267         cs_set_process_out(&mainboard.fessor.cs, encoders_microb_get_value, FESSOR_ENC);
 268         fessor_up();
 269
 270
 271
 272         /* ---- CS elevator */
 273
 274         elevator_autopos();
 275         /* PID */
 276         pid_init(&mainboard.elevator.pid);
 277         pid_set_gains(&mainboard.elevator.pid, 300, 10, 150);
 278         pid_set_maximums(&mainboard.elevator.pid, 0, 10000, 4095);
 279         pid_set_out_shift(&mainboard.elevator.pid, 10);
 280         pid_set_derivate_filter(&mainboard.elevator.pid, 4);
 281
 282         /* CS */
 283         cs_init(&mainboard.elevator.cs);
 284         cs_set_correct_filter(&mainboard.elevator.cs, pid_do_filter, &mainboard.elevator.pid);
 285         cs_set_process_in(&mainboard.elevator.cs, elevator_set, NULL);
 286         cs_set_process_out(&mainboard.elevator.cs, encoders_microb_get_value, ELEVATOR_ENC);
 287         elevator_down();
 288
 289         /* ---- CS wheel */
 290
 291         /* PID */
 292         pid_init(&mainboard.wheel.pid);
 293         pid_set_gains(&mainboard.wheel.pid, 100, 100, 0);
 294         pid_set_maximums(&mainboard.wheel.pid, 0, 30000, 4095);
 295         pid_set_out_shift(&mainboard.wheel.pid, 5);
 296         pid_set_derivate_filter(&mainboard.wheel.pid, 4);
 297
 298         /* CS */
 299         cs_init(&mainboard.wheel.cs);
 300         cs_set_correct_filter(&mainboard.wheel.cs, pid_do_filter, &mainboard.wheel.pid);
 301         cs_set_process_in(&mainboard.wheel.cs, wheel_set, NULL);
 302         cs_set_process_out(&mainboard.wheel.cs, wheel_get_value, NULL);
 303         cs_set_consign(&mainboard.wheel.cs, 1000);
 304
 305         /* set them on !! */
 306         mainboard.angle.on = 0;
 307         mainboard.distance.on = 0;
 308         mainboard.fessor.on = 1;
 309         mainboard.elevator.on = 0;
 310         mainboard.wheel.on = 1;
 311         mainboard.flags |= DO_CS;
 312
 313         scheduler_add_periodical_event_priority(do_cs, NULL,
 314                                                 5000L / SCHEDULER_UNIT,
 315                                                 CS_PRIO);
 316 }