}
#endif
+#ifndef HOST_VERSION
+#define DEBUG_CPLD
+#endif
+
+#ifdef DEBUG_CPLD
+extern int16_t g_encoders_spi_previous[4];
+static int32_t ll_prev, rr_prev;
+#endif
+
/* called every 5 ms */
static void do_cs(void *dummy)
{
#ifdef HOST_VERSION
robotsim_update();
#else
+#ifdef DEBUG_CPLD
+ int32_t ll, rr;
+#endif
/* read encoders */
if (mainboard.flags & DO_ENCODERS) {
encoders_spi_manage(NULL);
}
+#ifdef DEBUG_CPLD
+ ll = encoders_spi_get_value(LEFT_ENCODER);
+ rr = encoders_spi_get_value(RIGHT_ENCODER);
+ if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
+ (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
+ printf_P(PSTR("/ %d %d %d %d\r\n"),
+ g_encoders_spi_previous[0],
+ g_encoders_spi_previous[1],
+ g_encoders_spi_previous[2],
+ g_encoders_spi_previous[3]);
+ BRAKE_ON();
+ while (1);
+ }
+ ll_prev = ll;
+ rr_prev = rr;
+#endif
#endif
/* robot system, conversion to angle,distance */
position_init(&mainboard.pos);
position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
- position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+ // position_set_centrifugal_coef(&mainboard.pos, 0.000016);
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
- pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+ pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+ pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+ pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+ pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
mainboard.left_cobroller.on = 1;
mainboard.right_cobroller.on = 1;
+#ifdef DEBUG_CPLD
+ ll_prev = encoders_spi_get_value(LEFT_ENCODER);
+ rr_prev = encoders_spi_get_value(RIGHT_ENCODER);
+#endif
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
+
}