}
#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 */
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_ERRBLOCKING) {
- if (bd_get(&mainboard.left_cobroller.bd) ||
- bd_get(&mainboard.left_cobroller.bd)) {
- printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
- mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
- }
+/* if (bd_get(&mainboard.left_cobroller.bd) || */
+/* bd_get(&mainboard.left_cobroller.bd)) { */
+/* printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/* mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/* } */
}
#endif
}
#ifdef HOST_VERSION
if ((cpt & 7) == 0) {
- // dump_cs("dist", &mainboard.distance.cs);
robotsim_dump();
}
#endif
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, 0.000025);
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
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);