cs_manage(&ballboard.forkrot.cs);
}
if ((ballboard.flags & DO_BD) && (ballboard.flags & DO_POWER)) {
- bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+ bd_manage_from_speed_cmd(&ballboard.roller.bd,
+ cs_get_filtered_feedback(&ballboard.roller.cs),
+ cs_get_out(&ballboard.roller.cs));
/* urgent case: stop power on blocking */
if (ballboard.flags & DO_ERRBLOCKING) {
- if (bd_get(&ballboard.roller.bd) ||
- bd_get(&ballboard.forktrans.bd) ||
+ if (bd_get(&ballboard.forktrans.bd) ||
bd_get(&ballboard.forkrot.bd)) {
printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
pid_set_out_shift(&ballboard.roller.pid, 6);
pid_set_derivate_filter(&ballboard.roller.pid, 6);
+ /* QUADRAMP (used as a ramp filter) */
+ quadramp_init(&ballboard.roller.qr);
+ quadramp_set_1st_order_vars(&ballboard.roller.qr, 20, 20);
+ quadramp_set_2nd_order_vars(&ballboard.roller.qr, 0, 0);
+
/* CS */
cs_init(&ballboard.roller.cs);
+ cs_set_consign_filter(&ballboard.roller.cs, quadramp_do_filter, &ballboard.roller.qr);
cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
/* Blocking detection */
bd_init(&ballboard.roller.bd);
- bd_set_speed_threshold(&ballboard.roller.bd, 150);
- bd_set_current_thresholds(&ballboard.roller.bd, 500, 8000, 1000000, 200);
+#define ROLLER_SPEED_THRES (ROLLER_SPEED * 0.75)
+ bd_set_speed_threshold(&ballboard.roller.bd, ROLLER_SPEED_THRES);
+ bd_set_current_thresholds(&ballboard.roller.bd, 500, 1500, 1000000, 20);
/* ---- CS forktrans */
/* PID */
/* QUADRAMP */
quadramp_init(&ballboard.forkrot.qr);
- quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 800, 800); /* set speed */
+ quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 800); /* set speed */
quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
/* CS */
/* set them on !! */
ballboard.roller.on = 1;
ballboard.forktrans.on = 1;
- ballboard.forkrot.on = 1;
+ ballboard.forkrot.on = 0;
scheduler_add_periodical_event_priority(do_cs, NULL,