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 $
27 #include <aversive/error.h>
31 #include <encoders_spi.h>
34 #include <scheduler.h>
35 #include <clock_time.h>
40 #include <control_system_manager.h>
41 #include <trajectory_manager.h>
42 #include <vect_base.h>
45 #include <obstacle_avoidance.h>
46 #include <blocking_detection_manager.h>
47 #include <robot_system.h>
48 #include <position_manager.h>
57 int32_t encoders_left_cobroller_speed(void *number)
59 static volatile int32_t roller_pos;
61 tmp = encoders_spi_get_value(number);
62 speed = tmp - roller_pos;
67 int32_t encoders_right_cobroller_speed(void *number)
69 static volatile int32_t roller_pos;
71 tmp = encoders_spi_get_value(number);
72 speed = tmp - roller_pos;
77 /* called every 5 ms */
78 static void do_cs(void *dummy)
80 static uint16_t cpt = 0;
81 static int32_t old_a = 0, old_d = 0;
84 if (mainboard.flags & DO_ENCODERS) {
85 encoders_spi_manage(NULL);
88 /* XXX there is an issue which is probably related to avr-libc
89 * 1.6.2 (debian): this code using fixed_point lib does not
91 /* robot system, conversion to angle,distance */
92 if (mainboard.flags & DO_RS) {
94 rs_update(&mainboard.rs); /* takes about 0.5 ms */
95 /* process and store current speed */
96 a = rs_get_angle(&mainboard.rs);
97 d = rs_get_distance(&mainboard.rs);
98 mainboard.speed_a = a - old_a;
99 mainboard.speed_d = d - old_d;
105 if (mainboard.flags & DO_CS) {
106 if (mainboard.angle.on)
107 cs_manage(&mainboard.angle.cs);
108 if (mainboard.distance.on)
109 cs_manage(&mainboard.distance.cs);
110 if (mainboard.left_cobroller.on)
111 cs_manage(&mainboard.left_cobroller.cs);
112 if (mainboard.right_cobroller.on)
113 cs_manage(&mainboard.right_cobroller.cs);
115 if ((cpt & 1) && (mainboard.flags & DO_POS)) {
116 /* about 1.5ms (worst case without centrifugal force
118 position_manage(&mainboard.pos);
120 if (mainboard.flags & DO_BD) {
121 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
122 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
123 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
124 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
126 if (mainboard.flags & DO_TIMER) {
128 /* the robot should stop correctly in the strat, but
129 * in some cases, we must force the stop from an
131 second = time_get_s();
132 if (second >= MATCH_TIME + 2) {
133 pwm_ng_set(LEFT_PWM, 0);
134 pwm_ng_set(RIGHT_PWM, 0);
135 printf_P(PSTR("END OF TIME\r\n"));
140 if (mainboard.flags & DO_POWER)
147 void dump_cs_debug(const char *name, struct cs *cs)
149 DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
150 "in=% .5ld out=% .5ld",
151 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
152 cs_get_error(cs), cs_get_filtered_feedback(cs),
156 void dump_cs(const char *name, struct cs *cs)
158 printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
159 "in=% .5ld out=% .5ld\r\n"),
160 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
161 cs_get_error(cs), cs_get_filtered_feedback(cs),
165 void dump_pid(const char *name, struct pid_filter *pid)
167 printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
169 pid_get_value_in(pid) * pid_get_gain_P(pid),
170 pid_get_value_I(pid) * pid_get_gain_I(pid),
171 pid_get_value_D(pid) * pid_get_gain_D(pid),
172 pid_get_value_out(pid));
175 void microb_cs_init(void)
178 rs_init(&mainboard.rs);
179 rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
180 rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
181 /* increase gain to decrease dist, increase left and it will turn more left */
182 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
183 LEFT_ENCODER, IMP_COEF * -1.00);
184 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
185 RIGHT_ENCODER, IMP_COEF * 1.00);
186 /* rs will use external encoders */
187 rs_set_flags(&mainboard.rs, RS_USE_EXT);
189 /* POSITION MANAGER */
190 position_init(&mainboard.pos);
191 position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
192 position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
193 position_set_centrifugal_coef(&mainboard.pos, 0.000016);
194 position_use_ext(&mainboard.pos);
196 /* TRAJECTORY MANAGER */
197 trajectory_init(&mainboard.traj);
198 trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
199 &mainboard.angle.cs);
200 trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
201 trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
202 /* distance window, angle window, angle start */
203 trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
207 pid_init(&mainboard.angle.pid);
208 pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
209 pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
210 pid_set_out_shift(&mainboard.angle.pid, 10);
211 pid_set_derivate_filter(&mainboard.angle.pid, 4);
214 quadramp_init(&mainboard.angle.qr);
215 quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
216 quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
219 cs_init(&mainboard.angle.cs);
220 cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
221 cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
222 cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
223 cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
224 cs_set_consign(&mainboard.angle.cs, 0);
226 /* Blocking detection */
227 bd_init(&mainboard.angle.bd);
228 bd_set_speed_threshold(&mainboard.angle.bd, 80);
229 bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
231 /* ---- CS distance */
233 pid_init(&mainboard.distance.pid);
234 pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
235 pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
236 pid_set_out_shift(&mainboard.distance.pid, 10);
237 pid_set_derivate_filter(&mainboard.distance.pid, 6);
240 quadramp_init(&mainboard.distance.qr);
241 quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
242 quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
245 cs_init(&mainboard.distance.cs);
246 cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
247 cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
248 cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
249 cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
250 cs_set_consign(&mainboard.distance.cs, 0);
252 /* Blocking detection */
253 bd_init(&mainboard.distance.bd);
254 bd_set_speed_threshold(&mainboard.distance.bd, 60);
255 bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
257 /* ---- CS left_cobroller */
259 pid_init(&mainboard.left_cobroller.pid);
260 pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
261 pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
262 pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
263 pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
266 cs_init(&mainboard.left_cobroller.cs);
267 cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
268 cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
269 cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
270 cs_set_consign(&mainboard.left_cobroller.cs, 0);
272 /* Blocking detection */
273 bd_init(&mainboard.left_cobroller.bd);
274 bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
275 bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
277 /* ---- CS right_cobroller */
279 pid_init(&mainboard.right_cobroller.pid);
280 pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
281 pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
282 pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
283 pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
286 cs_init(&mainboard.right_cobroller.cs);
287 cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
288 cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
289 cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
290 cs_set_consign(&mainboard.right_cobroller.cs, 0);
292 /* Blocking detection */
293 bd_init(&mainboard.right_cobroller.bd);
294 bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
295 bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
298 mainboard.angle.on = 0;
299 mainboard.distance.on = 0;
300 mainboard.left_cobroller.on = 1;
301 mainboard.right_cobroller.on = 0;
304 scheduler_add_periodical_event_priority(do_cs, NULL,
305 5000L / SCHEDULER_UNIT,