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>
32 #include <encoders_spi.h>
35 #include <scheduler.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <vect_base.h>
46 #include <obstacle_avoidance.h>
47 #include <blocking_detection_manager.h>
48 #include <robot_system.h>
49 #include <position_manager.h>
60 int32_t encoders_left_cobroller_speed(void *number)
62 static volatile int32_t roller_pos;
64 tmp = encoders_spi_get_value(number);
65 speed = tmp - roller_pos;
70 int32_t encoders_right_cobroller_speed(void *number)
72 static volatile int32_t roller_pos;
74 tmp = encoders_spi_get_value(number);
75 speed = tmp - roller_pos;
81 /* called every 5 ms */
82 static void do_cs(void *dummy)
84 static uint16_t cpt = 0;
85 static int32_t old_a = 0, old_d = 0;
91 if (mainboard.flags & DO_ENCODERS) {
92 encoders_spi_manage(NULL);
96 /* robot system, conversion to angle,distance */
97 if (mainboard.flags & DO_RS) {
99 rs_update(&mainboard.rs); /* takes about 0.5 ms */
100 /* process and store current speed */
101 a = rs_get_angle(&mainboard.rs);
102 d = rs_get_distance(&mainboard.rs);
103 mainboard.speed_a = a - old_a;
104 mainboard.speed_d = d - old_d;
110 if (mainboard.flags & DO_CS) {
111 if (mainboard.angle.on)
112 cs_manage(&mainboard.angle.cs);
113 if (mainboard.distance.on)
114 cs_manage(&mainboard.distance.cs);
116 if (mainboard.left_cobroller.on)
117 cs_manage(&mainboard.left_cobroller.cs);
118 if (mainboard.right_cobroller.on)
119 cs_manage(&mainboard.right_cobroller.cs);
122 if ((cpt & 1) && (mainboard.flags & DO_POS)) {
123 /* about 1.5ms (worst case without centrifugal force
125 position_manage(&mainboard.pos);
127 if (mainboard.flags & DO_BD) {
128 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
129 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
131 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
132 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
136 if (mainboard.flags & DO_TIMER) {
138 /* the robot should stop correctly in the strat, but
139 * in some cases, we must force the stop from an
141 second = time_get_s();
142 if (second >= MATCH_TIME + 2) {
143 pwm_ng_set(LEFT_PWM, 0);
144 pwm_ng_set(RIGHT_PWM, 0);
145 printf_P(PSTR("END OF TIME\r\n"));
151 if (mainboard.flags & DO_POWER)
163 void dump_cs_debug(const char *name, struct cs *cs)
165 DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
166 "in=% .5"PRIi32" out=% .5"PRIi32"",
167 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
168 cs_get_error(cs), cs_get_filtered_feedback(cs),
172 void dump_cs(const char *name, struct cs *cs)
174 printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
175 "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
176 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
177 cs_get_error(cs), cs_get_filtered_feedback(cs),
181 void dump_pid(const char *name, struct pid_filter *pid)
183 printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
185 pid_get_value_in(pid) * pid_get_gain_P(pid),
186 pid_get_value_I(pid) * pid_get_gain_I(pid),
187 pid_get_value_D(pid) * pid_get_gain_D(pid),
188 pid_get_value_out(pid));
191 void microb_cs_init(void)
194 rs_init(&mainboard.rs);
195 rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
196 rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
197 /* increase gain to decrease dist, increase left and it will turn more left */
199 rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
200 LEFT_ENCODER, IMP_COEF);
201 rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
202 RIGHT_ENCODER, IMP_COEF);
204 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
205 LEFT_ENCODER, IMP_COEF * -1.00);
206 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
207 RIGHT_ENCODER, IMP_COEF * 1.00);
209 /* rs will use external encoders */
210 rs_set_flags(&mainboard.rs, RS_USE_EXT);
212 /* POSITION MANAGER */
213 position_init(&mainboard.pos);
214 position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
215 position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
216 position_set_centrifugal_coef(&mainboard.pos, 0.000016);
217 position_use_ext(&mainboard.pos);
219 /* TRAJECTORY MANAGER */
220 trajectory_init(&mainboard.traj);
221 trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
222 &mainboard.angle.cs);
223 trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
224 trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
225 /* distance window, angle window, angle start */
226 trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
230 pid_init(&mainboard.angle.pid);
231 pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
232 pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
233 pid_set_out_shift(&mainboard.angle.pid, 10);
234 pid_set_derivate_filter(&mainboard.angle.pid, 4);
237 quadramp_init(&mainboard.angle.qr);
238 quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
239 quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
242 cs_init(&mainboard.angle.cs);
243 cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
244 cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
245 cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
246 cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
247 cs_set_consign(&mainboard.angle.cs, 0);
249 /* Blocking detection */
250 bd_init(&mainboard.angle.bd);
251 bd_set_speed_threshold(&mainboard.angle.bd, 80);
252 bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
254 /* ---- CS distance */
256 pid_init(&mainboard.distance.pid);
257 pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);
258 pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
259 pid_set_out_shift(&mainboard.distance.pid, 10);
260 pid_set_derivate_filter(&mainboard.distance.pid, 6);
263 quadramp_init(&mainboard.distance.qr);
264 quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
265 quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
268 cs_init(&mainboard.distance.cs);
269 cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
270 cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
271 cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
272 cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
273 cs_set_consign(&mainboard.distance.cs, 0);
275 /* Blocking detection */
276 bd_init(&mainboard.distance.bd);
277 bd_set_speed_threshold(&mainboard.distance.bd, 60);
278 bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
281 /* ---- CS left_cobroller */
283 pid_init(&mainboard.left_cobroller.pid);
284 pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
285 pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
286 pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
287 pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
290 cs_init(&mainboard.left_cobroller.cs);
291 cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
292 cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
293 cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
294 cs_set_consign(&mainboard.left_cobroller.cs, 0);
296 /* Blocking detection */
297 bd_init(&mainboard.left_cobroller.bd);
298 bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
299 bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
301 /* ---- CS right_cobroller */
303 pid_init(&mainboard.right_cobroller.pid);
304 pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
305 pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
306 pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
307 pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
310 cs_init(&mainboard.right_cobroller.cs);
311 cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
312 cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
313 cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
314 cs_set_consign(&mainboard.right_cobroller.cs, 0);
316 /* Blocking detection */
317 bd_init(&mainboard.right_cobroller.bd);
318 bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
319 bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
320 #endif /* !HOST_VERSION */
323 mainboard.angle.on = 0;
324 mainboard.distance.on = 0;
325 mainboard.left_cobroller.on = 1;
326 mainboard.right_cobroller.on = 0;
329 scheduler_add_periodical_event_priority(do_cs, NULL,
330 5000L / SCHEDULER_UNIT,