X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=386b36024b07d108c2480e044b53cb6546eccaa4;hp=a71897057388a5d3a5354bfe0e2765abadad4bd8;hb=d23a4fdeed4e90d004d407942b230c188d012465;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c
index a718970..386b360 100644
--- a/projects/microb2010/cobboard/cs.c
+++ b/projects/microb2010/cobboard/cs.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -46,8 +46,7 @@
 #include "main.h"
 #include "actuator.h"
 #include "spickle.h"
-
-#define DEBUG_CPLD
+#include "shovel.h"
 
 /* called every 5 ms */
 static void do_cs(__attribute__((unused)) void *dummy)
@@ -56,11 +55,7 @@ static void do_cs(__attribute__((unused)) void *dummy)
 	if (cobboard.flags & DO_ENCODERS) {
 		encoders_spi_manage(NULL);
 	}
-#ifdef DEBUG_CPLD
-	cobboard.left_spickle.prev = cobboard.left_spickle.cs.filtered_feedback_value;
-	cobboard.right_spickle.prev = cobboard.right_spickle.cs.filtered_feedback_value;
-	cobboard.shovel.prev = cobboard.shovel.cs.filtered_feedback_value;
-#endif
+
 	/* control system */
 	if (cobboard.flags & DO_CS) {
 		if (cobboard.left_spickle.on)
@@ -70,30 +65,6 @@ static void do_cs(__attribute__((unused)) void *dummy)
 		if (cobboard.shovel.on)
 			cs_manage(&cobboard.shovel.cs);
 	}
-#ifdef DEBUG_CPLD
-	{
-		extern int16_t g_encoders_spi_previous[4];
-		int32_t ls, rs, sh;
-
-		ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
-		rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
-		sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
-		if (ls < -2000 || ls > 2000 ||
-		    rs < -2000 || rs > 2000 ||
-		    sh < -2000 || sh > 2000) {
-			printf_P(PSTR("left_spickle %ld "), ls);
-			printf_P(PSTR("right_spickle %ld "), rs);
-			printf_P(PSTR("shovel %ld "), sh);
-			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);
-		}
-	}
-#endif
 
 	if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
 		bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
@@ -102,12 +73,12 @@ static void do_cs(__attribute__((unused)) void *dummy)
 
 		/* urgent case: stop power on blocking */
 		if (cobboard.flags & DO_ERRBLOCKING) {
-			if (bd_get(&cobboard.left_spickle.bd) ||
-			    bd_get(&cobboard.right_spickle.bd) ||
-			    bd_get(&cobboard.shovel.bd)) {
-				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
-				cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
-			}
+/* 			if (bd_get(&cobboard.left_spickle.bd) || */
+/* 			    bd_get(&cobboard.right_spickle.bd) || */
+/* 			    bd_get(&cobboard.shovel.bd)) { */
+/* 				printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/* 				cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/* 			} */
 		}
 	}
 	if (cobboard.flags & DO_POWER)
@@ -149,8 +120,8 @@ void microb_cs_init(void)
 	/* ---- CS left_spickle */
 	/* PID */
 	pid_init(&cobboard.left_spickle.pid);
-	pid_set_gains(&cobboard.left_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.left_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.left_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.left_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.left_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
 
@@ -169,8 +140,8 @@ void microb_cs_init(void)
 	/* ---- CS right_spickle */
 	/* PID */
 	pid_init(&cobboard.right_spickle.pid);
-	pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
-	pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+	pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+	pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);
 	pid_set_out_shift(&cobboard.right_spickle.pid, 10);
 	pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
 
@@ -196,14 +167,14 @@ void microb_cs_init(void)
 
 	/* quadramp */
 	quadramp_init(&cobboard.shovel.qr);
-	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+	quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
 	quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
 
 	/* CS */
 	cs_init(&cobboard.shovel.cs);
 	cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
 	cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
-	cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
+	cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
 	cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
 	cs_set_consign(&cobboard.shovel.cs, 0);