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 cf122e6..ed5c0ff 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -73,14 +73,15 @@ static void do_cs(void *dummy)
                        cs_manage(&ballboard.forkrot.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);
@@ -122,8 +123,14 @@ void microb_cs_init(void)
        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);
@@ -131,8 +138,9 @@ 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, 1000000, 20);
 
        /* ---- CS forktrans */
        /* PID */