ballboard blocking detection

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

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index a82f3f4..ed5c0ff 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -72,10 +72,21 @@ static void do_cs(void *dummy)
                if (ballboard.forkrot.on)
                        cs_manage(&ballboard.forkrot.cs);
        }
-       if (ballboard.flags & DO_BD) {
-               bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
+       if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
                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.forktrans.bd) ||
+                           bd_get(&ballboard.forkrot.bd)) {
+                               printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
+                               ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
+                       }
+               }
        }
        if (ballboard.flags & DO_POWER)
                BRAKE_OFF();
@@ -86,7 +97,7 @@ static void do_cs(void *dummy)
 void dump_cs(const char *name, struct cs *cs)
 {
        printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
-                     "in=% .5ld out=% .5ld\r\n"), 
+                     "in=% .5ld out=% .5ld\r\n"),
                 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
                 cs_get_error(cs), cs_get_filtered_feedback(cs),
                 cs_get_out(cs));
@@ -108,21 +119,33 @@ void microb_cs_init(void)
        /* PID */
        pid_init(&ballboard.roller.pid);
        pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
-       pid_set_maximums(&ballboard.roller.pid, 0, 10000, 2000);
+       pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
        pid_set_out_shift(&ballboard.roller.pid, 6);
        pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+       /* QUADRAMP (used as a ramp filter) */
+       quadramp_init(&ballboard.roller.qr);
+       quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+       quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
        /* CS */
        cs_init(&ballboard.roller.cs);
+       cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
        cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
        cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
        cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
        cs_set_consign(&ballboard.roller.cs, 0);
 
+       /* Blocking detection */
+       bd_init(&ballboard.roller.bd);
+#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, 1000000, 20);
+
        /* ---- CS forktrans */
        /* PID */
        pid_init(&ballboard.forktrans.pid);
-       pid_set_gains(&ballboard.forktrans.pid, 200, 5, 250);
+       pid_set_gains(&ballboard.forktrans.pid, 30, 5, 0);
        pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
        pid_set_out_shift(&ballboard.forktrans.pid, 6);
        pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
@@ -143,19 +166,19 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&ballboard.forktrans.bd);
        bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
-       bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 40);
+       bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 200);
 
        /* ---- CS forkrot */
        /* PID */
        pid_init(&ballboard.forkrot.pid);
-       pid_set_gains(&ballboard.forkrot.pid, 200, 5, 250);
+       pid_set_gains(&ballboard.forkrot.pid, 30, 5, 0);
        pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
        pid_set_out_shift(&ballboard.forkrot.pid, 6);
        pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
 
        /* QUADRAMP */
        quadramp_init(&ballboard.forkrot.qr);
-       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 200); /* set speed */
+       quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
        quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 
        /* CS */
@@ -169,15 +192,15 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&ballboard.forkrot.bd);
        bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
-       bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 40);
+       bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 
        /* set them on !! */
-       ballboard.roller.on = 0;
+       ballboard.roller.on = 1;
        ballboard.forktrans.on = 1;
        ballboard.forkrot.on = 1;
 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,
-                                               5000L / SCHEDULER_UNIT, 
+                                               5000L / SCHEDULER_UNIT,
                                                CS_PRIO);
 }