cob detection

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 81e5245..9884bcf 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -56,6 +56,8 @@
 #include "strat.h"
 #include "actuator.h"
 
+void dump_cs(const char *name, struct cs *cs);
+
 #ifndef HOST_VERSION
 int32_t encoders_left_cobroller_speed(void *number)
 {
@@ -124,12 +126,19 @@ static void do_cs(void *dummy)
                 * compensation) */
                position_manage(&mainboard.pos);
        }
-       if (mainboard.flags & DO_BD) {
+       if ((mainboard.flags & DO_BD) && (mainboard.flags & DO_POWER)) {
                bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
                bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
 #ifndef HOST_VERSION
                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);
+                       }
+               }
 #endif
        }
 #ifndef HOST_VERSION
@@ -155,8 +164,10 @@ static void do_cs(void *dummy)
        cpt++;
 
 #ifdef HOST_VERSION
-       if ((cpt & 7) == 0)
+       if ((cpt & 7) == 0) {
+               //              dump_cs("dist", &mainboard.distance.cs);
                robotsim_dump();
+       }
 #endif
 }
 
@@ -197,14 +208,14 @@ void microb_cs_init(void)
        /* increase gain to decrease dist, increase left and it will turn more left */
 #ifdef HOST_VERSION
        rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
-                               LEFT_ENCODER, IMP_COEF);
+                               LEFT_ENCODER, IMP_COEF * 1.);
        rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
-                                RIGHT_ENCODER, IMP_COEF);
+                                RIGHT_ENCODER, IMP_COEF * 1.);
 #else
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                               LEFT_ENCODER, IMP_COEF * -1.00);
+                               LEFT_ENCODER, IMP_COEF * -1.011718);
        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-                                RIGHT_ENCODER, IMP_COEF * 1.00);
+                                RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -213,30 +224,31 @@ void microb_cs_init(void)
        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 */
-       trajectory_init(&mainboard.traj);
+       trajectory_init(&mainboard.traj, CS_HZ);
        trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
                          &mainboard.angle.cs);
        trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
        trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
+       trajectory_set_acc(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
        /* distance window, angle window, angle start */
        trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
 
        /* ---- 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);
 
        /* QUADRAMP */
        quadramp_init(&mainboard.angle.qr);
-       quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
-       quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
+       quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
+       quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
 
        /* CS */
        cs_init(&mainboard.angle.cs);
@@ -249,20 +261,20 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&mainboard.angle.bd);
        bd_set_speed_threshold(&mainboard.angle.bd, 80);
-       bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
+       bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
 
        /* ---- CS distance */
        /* PID */
        pid_init(&mainboard.distance.pid);
-       pid_set_gains(&mainboard.distance.pid, 500, 100, 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);
 
        /* QUADRAMP */
        quadramp_init(&mainboard.distance.qr);
-       quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
-       quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
+       quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
+       quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
 
        /* CS */
        cs_init(&mainboard.distance.cs);
@@ -275,7 +287,7 @@ void microb_cs_init(void)
        /* Blocking detection */
        bd_init(&mainboard.distance.bd);
        bd_set_speed_threshold(&mainboard.distance.bd, 60);
-       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
 
 #ifndef HOST_VERSION
        /* ---- CS left_cobroller */
@@ -310,7 +322,7 @@ void microb_cs_init(void)
        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_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
        cs_set_consign(&mainboard.right_cobroller.cs, 0);
 
        /* Blocking detection */
@@ -320,10 +332,10 @@ void microb_cs_init(void)
 #endif /* !HOST_VERSION */
 
        /* set them on !! */
-       mainboard.angle.on = 0;
-       mainboard.distance.on = 0;
+       mainboard.angle.on = 1;
+       mainboard.distance.on = 1;
        mainboard.left_cobroller.on = 1;
-       mainboard.right_cobroller.on = 0;
+       mainboard.right_cobroller.on = 1;
 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,