#include "main.h"
#include "actuator.h"
+#include "spickle.h"
/* called every 5 ms */
static void do_cs(__attribute__((unused)) void *dummy)
/* ---- CS left_spickle */
/* PID */
pid_init(&cobboard.left_spickle.pid);
- pid_set_gains(&cobboard.left_spickle.pid, 500, 40, 5000);
- pid_set_maximums(&cobboard.left_spickle.pid, 0, 5000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
+ pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
pid_set_out_shift(&cobboard.left_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
- /* QUADRAMP */
- quadramp_init(&cobboard.left_spickle.qr);
- quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 20, 20); /* set accel */
-
/* CS */
cs_init(&cobboard.left_spickle.cs);
- cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
- cs_set_process_in(&cobboard.left_spickle.cs, pwm_ng_set, LEFT_SPICKLE_PWM);
+ cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
cs_set_consign(&cobboard.left_spickle.cs, 0);
/* ---- CS right_spickle */
/* PID */
pid_init(&cobboard.right_spickle.pid);
- pid_set_gains(&cobboard.right_spickle.pid, 500, 40, 5000);
- pid_set_maximums(&cobboard.right_spickle.pid, 0, 5000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
+ pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
pid_set_out_shift(&cobboard.right_spickle.pid, 10);
- pid_set_derivate_filter(&cobboard.right_spickle.pid, 6);
-
- /* QUADRAMP */
- quadramp_init(&cobboard.right_spickle.qr);
- quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 1000, 1000); /* set speed */
- quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 20, 20); /* set accel */
+ pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
/* CS */
cs_init(&cobboard.right_spickle.cs);
- cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
- cs_set_process_in(&cobboard.right_spickle.cs, pwm_ng_set, RIGHT_SPICKLE_PWM);
+ cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
cs_set_consign(&cobboard.right_spickle.cs, 0);
/* ---- CS shovel */
/* PID */
pid_init(&cobboard.shovel.pid);
- pid_set_gains(&cobboard.shovel.pid, 500, 40, 5000);
- pid_set_maximums(&cobboard.shovel.pid, 0, 5000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.shovel.pid, 1000, 10, 200);
+ pid_set_maximums(&cobboard.shovel.pid, 0, 10000, 3200); /* max is 18 V */
pid_set_out_shift(&cobboard.shovel.pid, 10);
- pid_set_derivate_filter(&cobboard.shovel.pid, 6);
-
- /* QUADRAMP */
- quadramp_init(&cobboard.shovel.qr);
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 1000); /* set speed */
- quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 20, 20); /* set accel */
+ pid_set_derivate_filter(&cobboard.shovel.pid, 4);
/* CS */
cs_init(&cobboard.shovel.cs);
- cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
+ //cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
bd_set_speed_threshold(&cobboard.shovel.bd, 150);
bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40);
- /* set them on !! */
- cobboard.left_spickle.on = 1;
- cobboard.right_spickle.on = 1;
- cobboard.shovel.on = 1;
+ /* set them on (or not) !! */
+ cobboard.left_spickle.on = 0;
+ cobboard.right_spickle.on = 0;
+ cobboard.shovel.on = 0;
scheduler_add_periodical_event_priority(do_cs, NULL,
CS_PERIOD / SCHEDULER_UNIT,