X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=4e4d298f345b1ed7b7c1e2b139b223eba1d090ed;hp=81e52457f6af1b27a61a2778f3657241c9e43e53;hb=eed7b5a1d09acaf17fd0d9087f8ff953bed76576;hpb=ebfaaedd491e61696cc93b353471be15408d23e4

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 81e5245..4e4d298 100644
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -56,6 +56,8 @@
 #include "strat.h"
 #include "actuator.h"
 
+void dump_cs(const char *name, struct cs *cs);
+
 #ifndef HOST_VERSION
 int32_t encoders_left_cobroller_speed(void *number)
 {
@@ -78,6 +80,15 @@ int32_t encoders_right_cobroller_speed(void *number)
 }
 #endif
 
+#ifndef HOST_VERSION
+#define DEBUG_CPLD
+#endif
+
+#ifdef DEBUG_CPLD
+extern int16_t g_encoders_spi_previous[4];
+static int32_t ll_prev, rr_prev;
+#endif
+
 /* called every 5 ms */
 static void do_cs(void *dummy)
 {
@@ -87,10 +98,29 @@ static void do_cs(void *dummy)
 #ifdef HOST_VERSION
 	robotsim_update();
 #else
+#ifdef DEBUG_CPLD
+	int32_t ll, rr;
+#endif
 	/* read encoders */
 	if (mainboard.flags & DO_ENCODERS) {
 		encoders_spi_manage(NULL);
 	}
+#ifdef DEBUG_CPLD
+	ll = encoders_spi_get_value(LEFT_ENCODER);
+	rr = encoders_spi_get_value(RIGHT_ENCODER);
+	if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
+	    (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
+		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);
+	}
+	ll_prev = ll;
+	rr_prev = rr;
+#endif
 #endif
 
 	/* robot system, conversion to angle,distance */
@@ -124,12 +154,19 @@ 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
@@ -155,8 +192,10 @@ static void do_cs(void *dummy)
 	cpt++;
 
 #ifdef HOST_VERSION
-	if ((cpt & 7) == 0)
+	if ((cpt & 7) == 0) {
+		//		dump_cs("dist", &mainboard.distance.cs);
 		robotsim_dump();
+	}
 #endif
 }
 
@@ -197,14 +236,14 @@ void microb_cs_init(void)
 	/* increase gain to decrease dist, increase left and it will turn more left */
 #ifdef HOST_VERSION
 	rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
-				LEFT_ENCODER, IMP_COEF);
+				LEFT_ENCODER, IMP_COEF * 1.);
 	rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
-				 RIGHT_ENCODER, IMP_COEF);
+				 RIGHT_ENCODER, IMP_COEF * 1.);
 #else
 	rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				LEFT_ENCODER, IMP_COEF * -1.00);
+				LEFT_ENCODER, IMP_COEF * -1.011718);
 	rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
-				 RIGHT_ENCODER, IMP_COEF * 1.00);
+				 RIGHT_ENCODER, IMP_COEF * 1.012695);
 #endif
 	/* rs will use external encoders */
 	rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@ -213,30 +252,31 @@ void microb_cs_init(void)
 	position_init(&mainboard.pos);
 	position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
 	position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
-	position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+	position_set_centrifugal_coef(&mainboard.pos, 0.000025);
 	position_use_ext(&mainboard.pos);
 
 	/* TRAJECTORY MANAGER */
-	trajectory_init(&mainboard.traj);
+	trajectory_init(&mainboard.traj, CS_HZ);
 	trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
 			  &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_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);
 
 	/* QUADRAMP */
 	quadramp_init(&mainboard.angle.qr);
-	quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
-	quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
+	quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
+	quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
 
 	/* CS */
 	cs_init(&mainboard.angle.cs);
@@ -249,20 +289,20 @@ 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, 100, 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);
 
 	/* QUADRAMP */
 	quadramp_init(&mainboard.distance.qr);
-	quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
-	quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
+	quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
+	quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
 
 	/* CS */
 	cs_init(&mainboard.distance.cs);
@@ -275,7 +315,7 @@ 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 */
@@ -310,7 +350,7 @@ void microb_cs_init(void)
 	cs_init(&mainboard.right_cobroller.cs);
 	cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
 	cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
-	cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
+	cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
 	cs_set_consign(&mainboard.right_cobroller.cs, 0);
 
 	/* Blocking detection */
@@ -320,13 +360,18 @@ 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 = 0;
+	mainboard.right_cobroller.on = 1;
 
+#ifdef DEBUG_CPLD
+	ll_prev = encoders_spi_get_value(LEFT_ENCODER);
+	rr_prev = encoders_spi_get_value(RIGHT_ENCODER);
+#endif
 
 	scheduler_add_periodical_event_priority(do_cs, NULL,
 						5000L / SCHEDULER_UNIT,
 						CS_PRIO);
+
 }