X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=e1166da7823d4570a8faa0240964eee285515b0e;hp=cf122e60188d486fec51a9b5a1577d17e50ca588;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index cf122e6..e1166da 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)
 {
@@ -71,16 +72,19 @@ 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.roller.bd, &ballboard.roller.cs);
 		bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
 		bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+		bd_manage_from_speed_cmd(&ballboard.roller.bd,
+					 cs_get_filtered_feedback(&ballboard.roller.cs),
+					 cs_get_out(&ballboard.roller.cs));
 
 		/* urgent case: stop power on blocking */
 		if (ballboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&ballboard.roller.bd) ||
-			    bd_get(&ballboard.forktrans.bd) ||
+			if (bd_get(&ballboard.forktrans.bd) ||
 			    bd_get(&ballboard.forkrot.bd)) {
 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
 				ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
@@ -122,8 +126,14 @@ void microb_cs_init(void)
 	pid_set_out_shift(&ballboard.roller.pid, 6);
 	pid_set_derivate_filter(&ballboard.roller.pid, 6);
 
+	/* QUADRAMP (used as a ramp filter) */
+	quadramp_init(&ballboard.roller.qr);
+	quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+	quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
 	/* CS */
 	cs_init(&ballboard.roller.cs);
+	cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
 	cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
 	cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
 	cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
@@ -131,8 +141,9 @@ void microb_cs_init(void)
 
 	/* Blocking detection */
 	bd_init(&ballboard.roller.bd);
-	bd_set_speed_threshold(&ballboard.roller.bd, 150);
-	bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
+	bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
+	bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1200000, 70);
 
 	/* ---- CS forktrans */
 	/* PID */
@@ -170,7 +181,7 @@ void microb_cs_init(void)
 
 	/* QUADRAMP */
 	quadramp_init(&ballboard.forkrot.qr);
-	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
+	quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
 	quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
 
 	/* CS */
@@ -186,10 +197,27 @@ 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 = 1;
+	ballboard.forkrot.on = 0;
+	ballboard.beacon.on = 0;
 
 
 	scheduler_add_periodical_event_priority(do_cs, NULL,