#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <adc.h>
#include <pid.h>
#include "strat.h"
#include "actuator.h"
+int32_t encoders_left_cobroller_speed(void *number)
+{
+ static volatile int32_t roller_pos;
+ int32_t tmp, speed;
+ tmp = encoders_spi_get_value(number);
+ speed = tmp - roller_pos;
+ roller_pos = tmp;
+ return speed;
+}
+
+int32_t encoders_right_cobroller_speed(void *number)
+{
+ static volatile int32_t roller_pos;
+ int32_t tmp, speed;
+ tmp = encoders_spi_get_value(number);
+ speed = tmp - roller_pos;
+ roller_pos = tmp;
+ return speed;
+}
+
/* called every 5 ms */
static void do_cs(void *dummy)
{
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
+ if (mainboard.left_cobroller.on)
+ cs_manage(&mainboard.left_cobroller.cs);
+ if (mainboard.right_cobroller.on)
+ cs_manage(&mainboard.right_cobroller.cs);
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
if (mainboard.flags & DO_BD) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
+ bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
+ bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
}
if (mainboard.flags & DO_TIMER) {
uint8_t second;
rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
/* increase gain to decrease dist, increase left and it will turn more left */
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * 1.0015);
+ LEFT_ENCODER, IMP_COEF * -1.00);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * -1.006);
+ RIGHT_ENCODER, IMP_COEF * 1.00);
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
+ pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
bd_set_speed_threshold(&mainboard.distance.bd, 60);
bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+ /* ---- CS left_cobroller */
+ /* PID */
+ pid_init(&mainboard.left_cobroller.pid);
+ pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
+ pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
+ pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
+ pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
+
+ /* CS */
+ cs_init(&mainboard.left_cobroller.cs);
+ cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
+ cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
+ cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
+ cs_set_consign(&mainboard.left_cobroller.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.left_cobroller.bd);
+ bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
+ bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
+
+ /* ---- CS right_cobroller */
+ /* PID */
+ pid_init(&mainboard.right_cobroller.pid);
+ pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
+ pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
+ pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
+ pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
+
+ /* CS */
+ cs_init(&mainboard.right_cobroller.cs);
+ cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
+ cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
+ cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
+ cs_set_consign(&mainboard.right_cobroller.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.right_cobroller.bd);
+ bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
+ bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
+
/* set them on !! */
- mainboard.angle.on = 1;
- mainboard.distance.on = 1;
+ mainboard.angle.on = 0;
+ mainboard.distance.on = 0;
+ mainboard.left_cobroller.on = 1;
+ mainboard.right_cobroller.on = 0;
scheduler_add_periodical_event_priority(do_cs, NULL,