X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=81e52457f6af1b27a61a2778f3657241c9e43e53;hp=ec70f9a2ecebf748b7c6fdb8e6f594ac7f8b1fb5;hb=b14123cac428083a50e2d0871514018810a779e5;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c index ec70f9a..81e5245 100644 --- a/projects/microb2010/mainboard/cs.c +++ b/projects/microb2010/mainboard/cs.c @@ -1,7 +1,7 @@ -/* +/* * Copyright Droids Corporation * Olivier Matz - * + * * 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 @@ -22,6 +22,7 @@ #include #include +#include #include #include @@ -32,7 +33,7 @@ #include #include #include -#include +#include #include #include @@ -51,23 +52,47 @@ #include #include "main.h" +#include "robotsim.h" #include "strat.h" #include "actuator.h" +#ifndef HOST_VERSION +int32_t encoders_left_cobroller_speed(void *number) +{ + static volatile int32_t roller_pos; + int32_t tmp, speed; + tmp = encoders_spi_get_value(number); + speed = tmp - roller_pos; + roller_pos = tmp; + return speed; +} + +int32_t encoders_right_cobroller_speed(void *number) +{ + static volatile int32_t roller_pos; + int32_t tmp, speed; + tmp = encoders_spi_get_value(number); + speed = tmp - roller_pos; + roller_pos = tmp; + return speed; +} +#endif + /* called every 5 ms */ -static void do_cs(void *dummy) +static void do_cs(void *dummy) { static uint16_t cpt = 0; static int32_t old_a = 0, old_d = 0; +#ifdef HOST_VERSION + robotsim_update(); +#else /* read encoders */ if (mainboard.flags & DO_ENCODERS) { encoders_spi_manage(NULL); } +#endif - /* XXX there is an issue which is probably related to avr-libc - * 1.6.2 (debian): this code using fixed_point lib does not - * work with it */ /* robot system, conversion to angle,distance */ if (mainboard.flags & DO_RS) { int16_t a,d; @@ -87,6 +112,12 @@ static void do_cs(void *dummy) cs_manage(&mainboard.angle.cs); if (mainboard.distance.on) cs_manage(&mainboard.distance.cs); +#ifndef HOST_VERSION + if (mainboard.left_cobroller.on) + cs_manage(&mainboard.left_cobroller.cs); + if (mainboard.right_cobroller.on) + cs_manage(&mainboard.right_cobroller.cs); +#endif } if ((cpt & 1) && (mainboard.flags & DO_POS)) { /* about 1.5ms (worst case without centrifugal force @@ -96,7 +127,12 @@ static void do_cs(void *dummy) if (mainboard.flags & DO_BD) { 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); +#endif } +#ifndef HOST_VERSION if (mainboard.flags & DO_TIMER) { uint8_t second; /* the robot should stop correctly in the strat, but @@ -110,18 +146,24 @@ static void do_cs(void *dummy) while(1); } } +#endif /* brakes */ if (mainboard.flags & DO_POWER) BRAKE_OFF(); else BRAKE_ON(); cpt++; + +#ifdef HOST_VERSION + if ((cpt & 7) == 0) + robotsim_dump(); +#endif } void dump_cs_debug(const char *name, struct cs *cs) { - DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld " - "in=% .5ld out=% .5ld", + DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" " + "in=% .5"PRIi32" out=% .5"PRIi32"", name, cs_get_consign(cs), cs_get_filtered_consign(cs), cs_get_error(cs), cs_get_filtered_feedback(cs), cs_get_out(cs)); @@ -129,8 +171,8 @@ void dump_cs_debug(const char *name, struct cs *cs) void dump_cs(const char *name, struct cs *cs) { - printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld " - "in=% .5ld out=% .5ld\r\n"), + printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" " + "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"), name, cs_get_consign(cs), cs_get_filtered_consign(cs), cs_get_error(cs), cs_get_filtered_feedback(cs), cs_get_out(cs)); @@ -138,7 +180,7 @@ void dump_cs(const char *name, struct cs *cs) void dump_pid(const char *name, struct pid_filter *pid) { - printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"), + printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"), name, pid_get_value_in(pid) * pid_get_gain_P(pid), pid_get_value_I(pid) * pid_get_gain_I(pid), @@ -153,10 +195,17 @@ void microb_cs_init(void) rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM); rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM); /* increase gain to decrease dist, increase left and it will turn more left */ - rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value, - LEFT_ENCODER, IMP_COEF * 1.0015); - rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, - RIGHT_ENCODER, IMP_COEF * -1.006); +#ifdef HOST_VERSION + rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get, + LEFT_ENCODER, IMP_COEF); + rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get, + RIGHT_ENCODER, IMP_COEF); +#else + rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value, + LEFT_ENCODER, IMP_COEF * -1.00); + rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, + RIGHT_ENCODER, IMP_COEF * 1.00); +#endif /* rs will use external encoders */ rs_set_flags(&mainboard.rs, RS_USE_EXT); @@ -205,7 +254,7 @@ void microb_cs_init(void) /* ---- CS distance */ /* PID */ pid_init(&mainboard.distance.pid); - pid_set_gains(&mainboard.distance.pid, 500, 10, 7000); + pid_set_gains(&mainboard.distance.pid, 500, 100, 7000); pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095); pid_set_out_shift(&mainboard.distance.pid, 10); pid_set_derivate_filter(&mainboard.distance.pid, 6); @@ -228,9 +277,53 @@ void microb_cs_init(void) bd_set_speed_threshold(&mainboard.distance.bd, 60); bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50); +#ifndef HOST_VERSION + /* ---- CS left_cobroller */ + /* PID */ + pid_init(&mainboard.left_cobroller.pid); + pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10); + pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095); + pid_set_out_shift(&mainboard.left_cobroller.pid, 5); + pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6); + + /* CS */ + cs_init(&mainboard.left_cobroller.cs); + cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid); + cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM); + cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER); + cs_set_consign(&mainboard.left_cobroller.cs, 0); + + /* Blocking detection */ + bd_init(&mainboard.left_cobroller.bd); + bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60); + bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50); + + /* ---- CS right_cobroller */ + /* PID */ + pid_init(&mainboard.right_cobroller.pid); + pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10); + pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095); + pid_set_out_shift(&mainboard.right_cobroller.pid, 5); + pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6); + + /* CS */ + 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_consign(&mainboard.right_cobroller.cs, 0); + + /* Blocking detection */ + bd_init(&mainboard.right_cobroller.bd); + bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60); + bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50); +#endif /* !HOST_VERSION */ + /* set them on !! */ - mainboard.angle.on = 1; - mainboard.distance.on = 1; + mainboard.angle.on = 0; + mainboard.distance.on = 0; + mainboard.left_cobroller.on = 1; + mainboard.right_cobroller.on = 0; scheduler_add_periodical_event_priority(do_cs, NULL,