X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=35628d2806a23847e3c9ade3f673ddb6b294459c;hp=262f73cc6a96d0623f36e4e5934021e260e3e10e;hb=04f1061f2c5959ce87f632591576097f540dfc14;hpb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index 262f73c..35628d2 100644
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -45,6 +45,7 @@
 
 #include "main.h"
 #include "actuator.h"
+#include "beacon.h"
 
 int32_t encoders_spi_update_roller_speed(void *number)
 {
@@ -71,6 +72,8 @@ static void do_cs(void *dummy)
 			cs_manage(&ballboard.forktrans.cs);
 		if (ballboard.forkrot.on)
 			cs_manage(&ballboard.forkrot.cs);
+		if (ballboard.beacon.on)
+			cs_manage(&ballboard.beacon.cs);
 	}
 	if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
 		bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
@@ -79,6 +82,7 @@ static void do_cs(void *dummy)
 					 cs_get_filtered_feedback(&ballboard.roller.cs),
 					 cs_get_out(&ballboard.roller.cs));
 
+#if 0
 		/* urgent case: stop power on blocking */
 		if (ballboard.flags & DO_ERRBLOCKING) {
 			if (bd_get(&ballboard.forktrans.bd) ||
@@ -87,6 +91,7 @@ static void do_cs(void *dummy)
 				ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
 			}
 		}
+#endif
 	}
 	if (ballboard.flags & DO_POWER)
 		BRAKE_OFF();
@@ -178,8 +183,8 @@ void microb_cs_init(void)
 
 	/* QUADRAMP */
 	quadramp_init(&ballboard.forkrot.qr);
-	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
-	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
+	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
 
 	/* CS */
 	cs_init(&ballboard.forkrot.cs);
@@ -194,10 +199,27 @@ void microb_cs_init(void)
 	bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
 	bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
 
+	/* BEACON */
+
+	/* PID */
+	pid_init(&ballboard.beacon.pid);
+	pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
+	pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
+	pid_set_out_shift(&ballboard.beacon.pid, 6);
+	pid_set_derivate_filter(&ballboard.beacon.pid, 6);
+
+	/* CS */
+	cs_init(&ballboard.beacon.cs);
+	cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
+	cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+	cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+	cs_set_consign(&ballboard.beacon.cs, 0);
+
 	/* set them on !! */
 	ballboard.roller.on = 1;
 	ballboard.forktrans.on = 1;
 	ballboard.forkrot.on = 0;
+	ballboard.beacon.on = 0;
 
 
 	scheduler_add_periodical_event_priority(do_cs, NULL,