X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=070046955e7d2dbcbbf6860a549ca905ee209cd3;hp=905d533ed4e3369b27ea417c4b705871a5841d46;hb=HEAD;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 905d533..0700469 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -126,12 +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
@@ -158,7 +165,6 @@ static void do_cs(void *dummy)
 
 #ifdef HOST_VERSION
 	if ((cpt & 7) == 0) {
-		//		dump_cs("dist", &mainboard.distance.cs);
 		robotsim_dump();
 	}
 #endif
@@ -206,9 +212,9 @@ void microb_cs_init(void)
 				 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
 	rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				LEFT_ENCODER, IMP_COEF * -1.036);
+				LEFT_ENCODER, IMP_COEF * -1.011718);
 	rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				 RIGHT_ENCODER, IMP_COEF * 1.037);
+				 RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
 	/* rs will use external encoders */
 	rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -226,15 +232,15 @@ void microb_cs_init(void)
 			  &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_speed(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* 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);
 
@@ -254,13 +260,13 @@ 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, 10, 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);
 
@@ -280,7 +286,7 @@ 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 */
@@ -325,13 +331,13 @@ 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 = 1;
 
-
 	scheduler_add_periodical_event_priority(do_cs, NULL,
 						5000L / SCHEDULER_UNIT,
 						CS_PRIO);
+
 }