X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fspickle.c;h=741c103155e48826dbb383c573ca6b2f363b19e7;hp=f8e16130a16ebacfa265bf4f641bafdb76db71f8;hb=d23a4fdeed4e90d004d407942b230c188d012465;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index f8e1613..741c103 100644
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -42,13 +42,16 @@
 
 #include "sensor.h"
 #include "../common/i2c_commands.h"
+#include "state.h"
 #include "main.h"
 #include "actuator.h"
 
 struct spickle_params {
 	/* current limit (common to left and right) */
-	int32_t k1;
-	int32_t k2;
+	int32_t sk1;
+	int32_t sk2;
+	int32_t wk1;
+	int32_t wk2;
 
 	/* cs blocks */
 	struct cs_block * const csb[2];
@@ -60,15 +63,17 @@ struct spickle_params {
 };
 
 static struct spickle_params spickle = {
-	.k1 = 1000,
-	.k2 = 20,
+	.sk1 = 1000,
+	.sk2 = 20,
+	.wk1 = 200,
+	.wk2 = 20,
 	.csb = {
 		&cobboard.left_spickle,
 		&cobboard.right_spickle,
 	},
 	.pos_deployed = {
-		7000, // 200, /* left */
-		7000, // 200, /* right */
+		500,// 7000, // 200, /* left */
+		500,// 7000, // 200, /* right */
 	},
 	.pos_mid = {
 		25000, /* left */
@@ -99,24 +104,41 @@ void spickle_set(void *mot, int32_t cmd)
 {
 	static int32_t oldpos_left, oldpos_right;
 	int32_t oldpos, pos, maxcmd, speed;
+	int32_t k1, k2;
 
 	if (mot == LEFT_SPICKLE_PWM) {
 		pos = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
 		oldpos = oldpos_left;
+		if (state_spicklemode_weak(I2C_LEFT_SIDE)) {
+			k1 = spickle.wk1;
+			k2 = spickle.wk2;
+		}
+		else {
+			k1 = spickle.sk1;
+			k2 = spickle.sk2;
+		}
 	}
 	else {
 		pos = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
 		oldpos = oldpos_right;
+		if (state_spicklemode_weak(I2C_RIGHT_SIDE)) {
+			k1 = spickle.wk1;
+			k2 = spickle.wk2;
+		}
+		else {
+			k1 = spickle.sk1;
+			k2 = spickle.sk2;
+		}
 	}
 
 	speed = pos - oldpos;
 	if (speed > 0 && cmd < 0)
-		maxcmd = spickle.k1;
+		maxcmd = k1;
 	else if (speed < 0 && cmd > 0)
-		maxcmd = spickle.k1;
+		maxcmd = k1;
 	else {
 		speed = ABS(speed);
-		maxcmd = spickle.k1 + spickle.k2 * speed;
+		maxcmd = k1 + k2 * speed;
 	}
 	if (cmd > maxcmd)
 		cmd = maxcmd;
@@ -131,12 +153,17 @@ void spickle_set(void *mot, int32_t cmd)
 		oldpos_right = pos;
 }
 
-void spickle_set_coefs(uint32_t k1, uint32_t k2)
+void spickle_set_wcoefs(uint32_t k1, uint32_t k2)
 {
-	spickle.k1 = k1;
-	spickle.k2 = k2;
+	spickle.wk1 = k1;
+	spickle.wk2 = k2;
 }
 
+void spickle_set_scoefs(uint32_t k1, uint32_t k2)
+{
+	spickle.sk1 = k1;
+	spickle.sk2 = k2;
+}
 
 void spickle_set_pos(uint8_t side, int32_t pos_packed,
 		     int32_t pos_mid, int32_t pos_deployed)
@@ -148,7 +175,8 @@ void spickle_set_pos(uint8_t side, int32_t pos_packed,
 
 void spickle_dump_params(void)
 {
-	printf_P(PSTR("coef %ld %ld\r\n"), spickle.k1, spickle.k2);
+	printf_P(PSTR("strong_coef %ld %ld\r\n"), spickle.sk1, spickle.sk2);
+	printf_P(PSTR("weak_coef %ld %ld\r\n"), spickle.wk1, spickle.wk2);
 	printf_P(PSTR("left pos %ld %ld\r\n"),
 		 spickle.pos_packed[I2C_LEFT_SIDE],
 		 spickle.pos_mid[I2C_LEFT_SIDE],
@@ -159,6 +187,32 @@ void spickle_dump_params(void)
 		 spickle.pos_deployed[I2C_RIGHT_SIDE]);
 }
 
+static uint8_t spickle_is_at_pos(uint8_t side, int32_t pos)
+{
+	int32_t diff;
+	int32_t enc;
+	if (side == I2C_LEFT_SIDE)
+		enc = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
+	else
+		enc = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
+	diff = pos - enc;
+	if (diff < 0)
+		diff = -diff;
+	if (diff < 500)
+		return 1;
+	return 0;
+}
+
+uint8_t spickle_is_packed(uint8_t side)
+{
+	return spickle_is_at_pos(side, spickle.pos_packed[side]);
+}
+
+uint8_t spickle_is_deployed(uint8_t side)
+{
+	return spickle_is_at_pos(side, spickle.pos_deployed[side]);
+}
+
 void spickle_deploy(uint8_t side)
 {
 	cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);