#include "main.h"
#include "actuator.h"
+#include "beacon.h"
int32_t encoders_spi_update_roller_speed(void *number)
{
cs_manage(&ballboard.forktrans.cs);
if (ballboard.forkrot.on)
cs_manage(&ballboard.forkrot.cs);
+ if (ballboard.beacon.on)
+ cs_manage(&ballboard.beacon.cs);
}
if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
cs_get_filtered_feedback(&ballboard.roller.cs),
cs_get_out(&ballboard.roller.cs));
+#if 0
/* urgent case: stop power on blocking */
if (ballboard.flags & DO_ERRBLOCKING) {
if (bd_get(&ballboard.forktrans.bd) ||
ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
}
}
+#endif
}
if (ballboard.flags & DO_POWER)
BRAKE_OFF();
/* QUADRAMP */
quadramp_init(&ballboard.forkrot.qr);
- quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
- quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+ quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 1000, 500); /* set speed */
+ quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 100, 20); /* set accel */
/* CS */
cs_init(&ballboard.forkrot.cs);
bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
+ /* BEACON */
+
+ /* PID */
+ pid_init(&ballboard.beacon.pid);
+ pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
+ pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
+ pid_set_out_shift(&ballboard.beacon.pid, 6);
+ pid_set_derivate_filter(&ballboard.beacon.pid, 6);
+
+ /* CS */
+ cs_init(&ballboard.beacon.cs);
+ cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
+ cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+ cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+ cs_set_consign(&ballboard.beacon.cs, 0);
+
/* set them on !! */
ballboard.roller.on = 1;
ballboard.forktrans.on = 1;
ballboard.forkrot.on = 0;
+ ballboard.beacon.on = 0;
scheduler_add_periodical_event_priority(do_cs, NULL,