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reliability
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
cs.c
diff --git
a/projects/microb2010/mainboard/cs.c
b/projects/microb2010/mainboard/cs.c
index
516f00b
..
fbb28d9
100644
(file)
--- a/
projects/microb2010/mainboard/cs.c
+++ b/
projects/microb2010/mainboard/cs.c
@@
-133,11
+133,11
@@
static void do_cs(void *dummy)
bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
if (mainboard.flags & DO_ERRBLOCKING) {
bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
if (mainboard.flags & DO_ERRBLOCKING) {
- if (bd_get(&mainboard.left_cobroller.bd) ||
- bd_get(&mainboard.left_cobroller.bd)) {
- printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
- mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
- }
+/* if (bd_get(&mainboard.left_cobroller.bd) || */
+/* bd_get(&mainboard.left_cobroller.bd)) { */
+/* printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/* mainboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/* } */
}
#endif
}
}
#endif
}
@@
-165,7
+165,6
@@
static void do_cs(void *dummy)
#ifdef HOST_VERSION
if ((cpt & 7) == 0) {
#ifdef HOST_VERSION
if ((cpt & 7) == 0) {
- // dump_cs("dist", &mainboard.distance.cs);
robotsim_dump();
}
#endif
robotsim_dump();
}
#endif
@@
-213,9
+212,9
@@
void microb_cs_init(void)
RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * -1.01
1718
);
+ LEFT_ENCODER, IMP_COEF * -1.01
2729
);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * 1.01
2695
);
+ RIGHT_ENCODER, IMP_COEF * 1.01
370769
);
#endif
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
#endif
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
@@
-240,8
+239,8
@@
void microb_cs_init(void)
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
- pid_set_gains(&mainboard.angle.pid,
500, 10, 7
000);
- pid_set_maximums(&mainboard.angle.pid, 0,
2
0000, 4095);
+ pid_set_gains(&mainboard.angle.pid,
850, 30, 15
000);
+ pid_set_maximums(&mainboard.angle.pid, 0,
1
0000, 4095);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
@@
-266,8
+265,8
@@
void microb_cs_init(void)
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid,
500, 10, 7
000);
- pid_set_maximums(&mainboard.distance.pid, 0,
2
000, 4095);
+ pid_set_gains(&mainboard.distance.pid,
850, 30, 15
000);
+ pid_set_maximums(&mainboard.distance.pid, 0,
10
000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
@@
-337,8
+336,8
@@
void microb_cs_init(void)
mainboard.left_cobroller.on = 1;
mainboard.right_cobroller.on = 1;
mainboard.left_cobroller.on = 1;
mainboard.right_cobroller.on = 1;
-
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
+
}
}