-/*
+/*
* Copyright Droids Corporation
* Olivier Matz <zer0@droids-corp.org>
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include "main.h"
#include "actuator.h"
#include "spickle.h"
-
-#define DEBUG_CPLD
+#include "shovel.h"
/* called every 5 ms */
static void do_cs(__attribute__((unused)) void *dummy)
if (cobboard.flags & DO_ENCODERS) {
encoders_spi_manage(NULL);
}
-#ifdef DEBUG_CPLD
- cobboard.left_spickle.prev = cobboard.left_spickle.cs.filtered_feedback_value;
- cobboard.right_spickle.prev = cobboard.right_spickle.cs.filtered_feedback_value;
- cobboard.shovel.prev = cobboard.shovel.cs.filtered_feedback_value;
-#endif
+
/* control system */
if (cobboard.flags & DO_CS) {
if (cobboard.left_spickle.on)
if (cobboard.shovel.on)
cs_manage(&cobboard.shovel.cs);
}
-#ifdef DEBUG_CPLD
- {
- extern int16_t g_encoders_spi_previous[4];
- int32_t ls, rs, sh;
-
- ls = (cobboard.left_spickle.prev - cobboard.left_spickle.cs.filtered_feedback_value);
- rs = (cobboard.right_spickle.prev - cobboard.right_spickle.cs.filtered_feedback_value);
- sh = (cobboard.shovel.prev - cobboard.shovel.cs.filtered_feedback_value);
- if (ls < -2000 || ls > 2000 ||
- rs < -2000 || rs > 2000 ||
- sh < -2000 || sh > 2000) {
- printf_P(PSTR("left_spickle %ld "), ls);
- printf_P(PSTR("right_spickle %ld "), rs);
- printf_P(PSTR("shovel %ld "), sh);
- printf_P(PSTR("/ %d %d %d %d\r\n"),
- g_encoders_spi_previous[0],
- g_encoders_spi_previous[1],
- g_encoders_spi_previous[2],
- g_encoders_spi_previous[3]);
- BRAKE_ON();
- while (1);
- }
- }
-#endif
if ((cobboard.flags & DO_BD) && (cobboard.flags & DO_POWER)) {
bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs);
/* urgent case: stop power on blocking */
if (cobboard.flags & DO_ERRBLOCKING) {
- if (/* bd_get(&cobboard.left_spickle.bd) || */
- /* bd_get(&cobboard.right_spickle.bd) || */
- bd_get(&cobboard.shovel.bd)) {
- printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
- cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
- }
+/* if (bd_get(&cobboard.left_spickle.bd) || */
+/* bd_get(&cobboard.right_spickle.bd) || */
+/* bd_get(&cobboard.shovel.bd)) { */
+/* printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n")); */
+/* cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING); */
+/* } */
}
}
if (cobboard.flags & DO_POWER)
pid_set_out_shift(&cobboard.left_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.left_spickle.pid, 4);
+ /* quadramp */
+ quadramp_init(&cobboard.left_spickle.qr);
+ quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 3000, 3000); /* set speed */
+ quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 0, 0); /* set accel */
+
/* CS */
cs_init(&cobboard.left_spickle.cs);
+ cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr);
cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid);
cs_set_process_in(&cobboard.left_spickle.cs, spickle_set, LEFT_SPICKLE_PWM);
cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER);
pid_set_out_shift(&cobboard.right_spickle.pid, 10);
pid_set_derivate_filter(&cobboard.right_spickle.pid, 4);
+ /* quadramp */
+ quadramp_init(&cobboard.right_spickle.qr);
+ quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set speed */
+ quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 0, 0); /* set accel */
+
/* CS */
cs_init(&cobboard.right_spickle.cs);
+ cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr);
cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid);
cs_set_process_in(&cobboard.right_spickle.cs, spickle_set, RIGHT_SPICKLE_PWM);
cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER);
/* quadramp */
quadramp_init(&cobboard.shovel.qr);
- quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2000, 2000); /* set speed */
+ quadramp_set_1st_order_vars(&cobboard.shovel.qr, 2500, 2500); /* set speed */
quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 50, 20); /* set accel */
/* CS */
cs_init(&cobboard.shovel.cs);
cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr);
cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid);
- cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM);
+ cs_set_process_in(&cobboard.shovel.cs, shovel_set, SHOVEL_PWM);
cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER);
cs_set_consign(&cobboard.shovel.cs, 0);