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>
50 /* called every 5 ms */
51 static void do_cs(void *dummy)
53 static uint16_t cpt = 0;
54 static int32_t old_a = 0, old_d = 0;
60 if (mainboard.flags & DO_ENCODERS) {
61 encoders_spi_manage(NULL);
65 /* XXX there is an issue which is probably related to avr-libc
66 * 1.6.2 (debian): this code using fixed_point lib does not
68 /* robot system, conversion to angle,distance */
69 if (mainboard.flags & DO_RS) {
71 rs_update(&mainboard.rs); /* takes about 0.5 ms */
72 /* process and store current speed */
73 a = rs_get_angle(&mainboard.rs);
74 d = rs_get_distance(&mainboard.rs);
75 mainboard.speed_a = a - old_a;
76 mainboard.speed_d = d - old_d;
82 if (mainboard.flags & DO_CS) {
83 if (mainboard.angle.on)
84 cs_manage(&mainboard.angle.cs);
85 if (mainboard.distance.on)
86 cs_manage(&mainboard.distance.cs);
88 if ((cpt & 1) && (mainboard.flags & DO_POS)) {
89 /* about 1.5ms (worst case without centrifugal force
91 position_manage(&mainboard.pos);
93 if (mainboard.flags & DO_BD) {
94 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
95 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
98 if (mainboard.flags & DO_TIMER) {
100 /* the robot should stop correctly in the strat, but
101 * in some cases, we must force the stop from an
103 second = time_get_s();
104 if (second >= MATCH_TIME + 2) {
105 pwm_ng_set(LEFT_PWM, 0);
106 pwm_ng_set(RIGHT_PWM, 0);
107 printf_P(PSTR("END OF TIME\r\n"));
112 if (mainboard.flags & DO_POWER)
121 //dump_cs("distance", &mainboard.distance.cs);
122 //dump_cs("angle", &mainboard.angle.cs);
125 void dump_cs_debug(const char *name, struct cs *cs)
127 DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
128 "in=% .5"PRIi32" out=% .5"PRIi32"",
129 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
130 cs_get_error(cs), cs_get_filtered_feedback(cs),
134 void dump_cs(const char *name, struct cs *cs)
136 printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
137 "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
138 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
139 cs_get_error(cs), cs_get_filtered_feedback(cs),
143 void dump_pid(const char *name, struct pid_filter *pid)
145 printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
147 pid_get_value_in(pid) * pid_get_gain_P(pid),
148 pid_get_value_I(pid) * pid_get_gain_I(pid),
149 pid_get_value_D(pid) * pid_get_gain_D(pid),
150 pid_get_value_out(pid));
153 void microb_cs_init(void)
156 rs_init(&mainboard.rs);
157 rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
158 rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
159 /* increase gain to decrease dist, increase left and it will turn more left */
160 rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
161 LEFT_ENCODER, IMP_COEF);
162 rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
163 RIGHT_ENCODER, IMP_COEF);
164 /* rs will use external encoders */
165 rs_set_flags(&mainboard.rs, RS_USE_EXT);
167 /* POSITION MANAGER */
168 position_init(&mainboard.pos);
169 position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
170 position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
171 position_set_centrifugal_coef(&mainboard.pos, 0.000016);
172 position_use_ext(&mainboard.pos);
174 /* TRAJECTORY MANAGER */
175 trajectory_init(&mainboard.traj);
176 trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
177 &mainboard.angle.cs);
178 trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
179 trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
180 /* distance window, angle window, angle start */
181 trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
185 pid_init(&mainboard.angle.pid);
186 pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
187 pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
188 pid_set_out_shift(&mainboard.angle.pid, 10);
189 pid_set_derivate_filter(&mainboard.angle.pid, 4);
192 quadramp_init(&mainboard.angle.qr);
193 quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
194 quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
197 cs_init(&mainboard.angle.cs);
198 cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
199 cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
200 cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
201 cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
202 cs_set_consign(&mainboard.angle.cs, 0);
204 /* Blocking detection */
205 bd_init(&mainboard.angle.bd);
206 bd_set_speed_threshold(&mainboard.angle.bd, 80);
207 bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
209 /* ---- CS distance */
211 pid_init(&mainboard.distance.pid);
212 pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
213 pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
214 pid_set_out_shift(&mainboard.distance.pid, 10);
215 pid_set_derivate_filter(&mainboard.distance.pid, 6);
218 quadramp_init(&mainboard.distance.qr);
219 quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
220 quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
223 cs_init(&mainboard.distance.cs);
224 cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
225 cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
226 cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
227 cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
228 cs_set_consign(&mainboard.distance.cs, 0);
230 /* Blocking detection */
231 bd_init(&mainboard.distance.bd);
232 bd_set_speed_threshold(&mainboard.distance.bd, 60);
233 bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
236 mainboard.angle.on = 1;
237 mainboard.distance.on = 1;
240 scheduler_add_periodical_event_priority(do_cs, NULL,
241 5000L / SCHEDULER_UNIT,