2 * Copyright Droids Corporation (2010)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
23 #include <aversive/pgmspace.h>
24 #include <aversive/wait.h>
25 #include <aversive/error.h>
30 #include <encoders_spi.h>
33 #include <scheduler.h>
34 #include <clock_time.h>
38 #include <control_system_manager.h>
39 #include <blocking_detection_manager.h>
46 #define SHOVEL_DOWN 100
47 #define SHOVEL_MID 4500
48 #define SHOVEL_UP 11000
50 static int32_t shovel_k1 = 1000;
51 static int32_t shovel_k2 = 20;
52 static uint8_t shovel_current_limit = 1;
54 /* init spickle position at beginning */
55 static void shovel_autopos(void)
57 printf_P(PSTR("shovel autopos..."));
58 pwm_ng_set(SHOVEL_PWM, -500);
60 pwm_ng_set(LEFT_SPICKLE_PWM, 0);
61 encoders_spi_set_value(SHOVEL_ENCODER, 0);
62 printf_P(PSTR("ok\r\n"));
65 static uint8_t shovel_is_at_pos(int32_t pos)
68 diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
76 void shovel_set_current_limit_coefs(int32_t k1, int32_t k2)
82 uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2)
86 return shovel_current_limit;
89 void shovel_current_limit_enable(uint8_t enable)
91 shovel_current_limit = enable;
94 /* Set CS command for shovel. Called by CS manager. */
95 void shovel_set(void *mot, int32_t cmd)
97 static int32_t oldpos;
98 int32_t pos, maxcmd, speed;
100 pos = encoders_spi_get_value(SHOVEL_ENCODER);
101 if (shovel_current_limit) {
102 speed = pos - oldpos;
103 if (speed > 0 && cmd < 0)
105 else if (speed < 0 && cmd > 0)
109 maxcmd = shovel_k1 + shovel_k2 * speed;
113 else if (cmd < -maxcmd)
117 pwm_ng_set(mot, cmd);
121 void shovel_down(void)
123 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
124 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 80);
125 cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
128 void shovel_mid(void)
130 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500);
131 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 80);
132 cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
137 if (state_get_cob_count() <= 1)
138 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 2500);
140 quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2500);
141 quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 80, 15);
142 cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
145 uint8_t shovel_is_up(void)
147 return shovel_is_at_pos(SHOVEL_UP);
150 uint8_t shovel_is_down(void)
152 return shovel_is_at_pos(SHOVEL_DOWN);
155 void shovel_init(void)
158 cobboard.shovel.on = 1;