kickstand

[aversive.git] / projects / microb2010 / cobboard / shovel.c

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 39ce2bc..71139ab 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,14 +40,123 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "state.h"
+#include "shovel.h"
+
+#define SHOVEL_DOWN 100
+#define SHOVEL_MID  4500
+#define SHOVEL_UP   11000
+
+static int32_t shovel_k1 = 1000;
+static int32_t shovel_k2 = 20;
+static uint8_t shovel_current_limit = 1;
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
+       printf_P(PSTR("shovel autopos..."));
        pwm_ng_set(SHOVEL_PWM, -500);
        wait_ms(1000);
        pwm_ng_set(LEFT_SPICKLE_PWM, 0);
        encoders_spi_set_value(SHOVEL_ENCODER, 0);
+       printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+       int32_t diff;
+       diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+       if (diff < 0)
+               diff = -diff;
+       if (diff < 500)
+               return 1;
+       return 0;
+}
+
+void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
+{
+       shovel_k1 = k1;
+       shovel_k2 = k2;
+}
+
+uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
+{
+       *k1 = shovel_k1;
+       *k2 = shovel_k2;
+       return shovel_current_limit;
+}
+
+void shovel_current_limit_enable(uint8_t enable)
+{
+       shovel_current_limit = enable;
+}
+
+/* Set CS command for shovel. Called by CS manager. */
+void shovel_set(void *mot, int32_t cmd)
+{
+       static int32_t oldpos;
+       int32_t pos, maxcmd, speed;
+
+       pos = encoders_spi_get_value(SHOVEL_ENCODER);
+       if (shovel_current_limit) {
+               speed = pos - oldpos;
+               if (speed > 0 && cmd < 0)
+                       maxcmd = shovel_k1;
+               else if (speed < 0 && cmd > 0)
+                       maxcmd = shovel_k1;
+               else {
+                       speed = ABS(speed);
+                       maxcmd = shovel_k1 + shovel_k2 * speed;
+               }
+               if (cmd > maxcmd)
+                       cmd = maxcmd;
+               else if (cmd < -maxcmd)
+                       cmd = -maxcmd;
+       }
+
+       pwm_ng_set(mot, cmd);
+       oldpos = pos;
+}
+
+void shovel_down(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
+}
+
+void shovel_mid(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
+}
+
+void shovel_up(void)
+{
+       if (state_get_cob_count() <= 1)
+               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
+       else
+               quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
+void shovel_kickstand(void)
+{
+       quadramp_set_1st_order_vars(&cobboard.shovel.qr, 200, 200);
+       quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 10, 10);
+       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
+}
+
+uint8_t shovel_is_up(void)
+{
+       return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+       return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
 void shovel_init(void)