beacon from 2009

[aversive.git] / projects / microb2010 / ballboard / cs.c

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index f6edc88..e1166da 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -45,6 +45,7 @@
 
 #include "main.h"
 #include "actuator.h"
+#include "beacon.h"
 
 int32_t encoders_spi_update_roller_speed(void *number)
 {
@@ -71,16 +72,19 @@ static void do_cs(void *dummy)
                        cs_manage(&ballboard.forktrans.cs);
                if (ballboard.forkrot.on)
                        cs_manage(&ballboard.forkrot.cs);
+               if (ballboard.beacon.on)
+                       cs_manage(&ballboard.beacon.cs);
        }
        if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
-               bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
                bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
                bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+               bd_manage_from_speed_cmd(&ballboard.roller.bd,
+                                        cs_get_filtered_feedback(&ballboard.roller.cs),
+                                        cs_get_out(&ballboard.roller.cs));
 
                /* urgent case: stop power on blocking */
                if (ballboard.flags & DO_ERRBLOCKING) {
-                       if (bd_get(&ballboard.roller.bd) ||
-                           bd_get(&ballboard.forktrans.bd) ||
+                       if (bd_get(&ballboard.forktrans.bd) ||
                            bd_get(&ballboard.forkrot.bd)) {
                                printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
                                ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -137,8 +141,9 @@ void microb_cs_init(void)
 
        /* Blocking detection */
        bd_init(&ballboard.roller.bd);
-       bd_set_speed_threshold(&ballboard.roller.bd, 150);
-       bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
+       bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
+       bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
        /* ---- CS forktrans */
        /* PID */
@@ -176,7 +181,7 @@ void microb_cs_init(void)
 
        /* QUADRAMP */
        quadramp_init(&ballboard.forkrot.qr);
-       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
+       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
        quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 
        /* CS */
@@ -192,10 +197,27 @@ void microb_cs_init(void)
        bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
        bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 
+       /* BEACON */
+
+       /* PID */
+       pid_init(&ballboard.beacon.pid);
+       pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
+       pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
+       pid_set_out_shift(&ballboard.beacon.pid, 6);
+       pid_set_derivate_filter(&ballboard.beacon.pid, 6);
+
+       /* CS */
+       cs_init(&ballboard.beacon.cs);
+       cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
+       cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+       cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+       cs_set_consign(&ballboard.beacon.cs, 0);
+
        /* set them on !! */
        ballboard.roller.on = 1;
        ballboard.forktrans.on = 1;
-       ballboard.forkrot.on = 1;
+       ballboard.forkrot.on = 0;
+       ballboard.beacon.on = 0;
 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,