2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 * Revision : $Id: cs.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
28 #include <aversive/error.h>
31 #include <scheduler.h>
32 #include <clock_time.h>
36 #include <control_system_manager.h>
37 #include <trajectory_manager.h>
38 #include <blocking_detection_manager.h>
39 #include <robot_system.h>
40 #include <position_manager.h>
48 /* called every 5 ms */
49 static void do_cs(void *dummy)
51 static uint16_t cpt = 0;
52 static int32_t old_a = 0, old_d = 0;
58 if (mainboard.flags & DO_ENCODERS) {
59 encoders_spi_manage(NULL);
63 /* XXX there is an issue which is probably related to avr-libc
64 * 1.6.2 (debian): this code using fixed_point lib does not
66 /* robot system, conversion to angle,distance */
67 if (mainboard.flags & DO_RS) {
69 rs_update(&mainboard.rs); /* takes about 0.5 ms */
70 /* process and store current speed */
71 a = rs_get_angle(&mainboard.rs);
72 d = rs_get_distance(&mainboard.rs);
73 mainboard.speed_a = a - old_a;
74 mainboard.speed_d = d - old_d;
80 if (mainboard.flags & DO_CS) {
81 if (mainboard.angle.on)
82 cs_manage(&mainboard.angle.cs);
83 if (mainboard.distance.on)
84 cs_manage(&mainboard.distance.cs);
86 if ((cpt & 1) && (mainboard.flags & DO_POS)) {
87 /* about 1.5ms (worst case without centrifugal force
89 position_manage(&mainboard.pos);
92 if (mainboard.flags & DO_BD) {
93 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
94 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
96 if (mainboard.flags & DO_TIMER) {
98 /* the robot should stop correctly in the strat, but
99 * in some cases, we must force the stop from an
101 second = time_get_s();
102 if (second >= MATCH_TIME + 2) {
103 pwm_ng_set(LEFT_PWM, 0);
104 pwm_ng_set(RIGHT_PWM, 0);
105 printf_P(PSTR("END OF TIME\r\n"));
110 if (mainboard.flags & DO_POWER)
119 //dump_cs("distance", &mainboard.distance.cs);
120 //dump_cs("angle", &mainboard.angle.cs);
123 void dump_cs_debug(const char *name, struct cs *cs)
125 DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
126 "in=% .5"PRIi32" out=% .5"PRIi32"",
127 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
128 cs_get_error(cs), cs_get_filtered_feedback(cs),
132 void dump_cs(const char *name, struct cs *cs)
134 printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
135 "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
136 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
137 cs_get_error(cs), cs_get_filtered_feedback(cs),
141 void dump_pid(const char *name, struct pid_filter *pid)
143 printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
145 pid_get_value_in(pid) * pid_get_gain_P(pid),
146 pid_get_value_I(pid) * pid_get_gain_I(pid),
147 pid_get_value_D(pid) * pid_get_gain_D(pid),
148 pid_get_value_out(pid));
151 void microb_cs_init(void)
154 rs_init(&mainboard.rs);
155 rs_set_left_pwm(&mainboard.rs, robotsim_pwm, LEFT_PWM);
156 rs_set_right_pwm(&mainboard.rs, robotsim_pwm, RIGHT_PWM);
157 /* increase gain to decrease dist, increase left and it will turn more left */
158 rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
159 LEFT_ENCODER, IMP_COEF);
160 rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
161 RIGHT_ENCODER, IMP_COEF);
162 /* rs will use external encoders */
163 rs_set_flags(&mainboard.rs, RS_USE_EXT);
165 /* POSITION MANAGER */
166 position_init(&mainboard.pos);
167 position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
168 position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
169 //position_set_centrifugal_coef(&mainboard.pos, 0.000016);
170 position_use_ext(&mainboard.pos);
172 /* TRAJECTORY MANAGER */
173 trajectory_init(&mainboard.traj);
174 trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
175 &mainboard.angle.cs);
176 trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
177 trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
178 /* distance window, angle window, angle start */
179 trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
183 pid_init(&mainboard.angle.pid);
184 pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
185 pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
186 pid_set_out_shift(&mainboard.angle.pid, 10);
187 pid_set_derivate_filter(&mainboard.angle.pid, 4);
190 quadramp_init(&mainboard.angle.qr);
191 quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
192 quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
195 cs_init(&mainboard.angle.cs);
196 cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
197 cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
198 cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
199 cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
200 cs_set_consign(&mainboard.angle.cs, 0);
202 /* Blocking detection */
203 bd_init(&mainboard.angle.bd);
204 bd_set_speed_threshold(&mainboard.angle.bd, 80);
205 bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
207 /* ---- CS distance */
209 pid_init(&mainboard.distance.pid);
210 pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
211 pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
212 pid_set_out_shift(&mainboard.distance.pid, 10);
213 pid_set_derivate_filter(&mainboard.distance.pid, 6);
216 quadramp_init(&mainboard.distance.qr);
217 quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
218 quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
221 cs_init(&mainboard.distance.cs);
222 cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
223 cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
224 cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
225 cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
226 cs_set_consign(&mainboard.distance.cs, 0);
228 /* Blocking detection */
229 bd_init(&mainboard.distance.bd);
230 bd_set_speed_threshold(&mainboard.distance.bd, 60);
231 bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
234 mainboard.angle.on = 1;
235 mainboard.distance.on = 1;
238 scheduler_add_periodical_event_priority(do_cs, NULL,
239 5000L / SCHEDULER_UNIT,