#include "sensor.h"
#include "../common/i2c_commands.h"
+#include "state.h"
#include "main.h"
#include "actuator.h"
struct spickle_params {
/* current limit (common to left and right) */
- int32_t k1;
- int32_t k2;
+ int32_t sk1;
+ int32_t sk2;
+ int32_t wk1;
+ int32_t wk2;
/* cs blocks */
struct cs_block * const csb[2];
};
static struct spickle_params spickle = {
- .k1 = 1000,
- .k2 = 20,
+ .sk1 = 1000,
+ .sk2 = 20,
+ .wk1 = 200,
+ .wk2 = 5,
.csb = {
&cobboard.left_spickle,
&cobboard.right_spickle,
},
.pos_deployed = {
- 500,// 7000, // 200, /* left */
- 500,// 7000, // 200, /* right */
+ 7000, // 200, /* left */
+ 7000, // 200, /* right */
},
.pos_mid = {
25000, /* left */
{
static int32_t oldpos_left, oldpos_right;
int32_t oldpos, pos, maxcmd, speed;
+ int32_t k1, k2;
if (mot == LEFT_SPICKLE_PWM) {
pos = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
oldpos = oldpos_left;
+ if (state_spicklemode_weak(I2C_LEFT_SIDE)) {
+ k1 = spickle.wk1;
+ k2 = spickle.wk2;
+ }
+ else {
+ k1 = spickle.sk1;
+ k2 = spickle.sk2;
+ }
}
else {
pos = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
oldpos = oldpos_right;
+ if (state_spicklemode_weak(I2C_RIGHT_SIDE)) {
+ k1 = spickle.wk1;
+ k2 = spickle.wk2;
+ }
+ else {
+ k1 = spickle.sk1;
+ k2 = spickle.sk2;
+ }
}
speed = pos - oldpos;
if (speed > 0 && cmd < 0)
- maxcmd = spickle.k1;
+ maxcmd = k1;
else if (speed < 0 && cmd > 0)
- maxcmd = spickle.k1;
+ maxcmd = k1;
else {
speed = ABS(speed);
- maxcmd = spickle.k1 + spickle.k2 * speed;
+ maxcmd = k1 + k2 * speed;
}
if (cmd > maxcmd)
cmd = maxcmd;
oldpos_right = pos;
}
-void spickle_set_coefs(uint32_t k1, uint32_t k2)
+void spickle_set_wcoefs(uint32_t k1, uint32_t k2)
{
- spickle.k1 = k1;
- spickle.k2 = k2;
+ spickle.wk1 = k1;
+ spickle.wk2 = k2;
+}
+
+void spickle_set_scoefs(uint32_t k1, uint32_t k2)
+{
+ spickle.sk1 = k1;
+ spickle.sk2 = k2;
}
void spickle_set_pos(uint8_t side, int32_t pos_packed,
void spickle_dump_params(void)
{
- printf_P(PSTR("coef %ld %ld\r\n"), spickle.k1, spickle.k2);
+ printf_P(PSTR("strong_coef %ld %ld\r\n"), spickle.sk1, spickle.sk2);
+ printf_P(PSTR("weak_coef %ld %ld\r\n"), spickle.wk1, spickle.wk2);
printf_P(PSTR("left pos %ld %ld\r\n"),
spickle.pos_packed[I2C_LEFT_SIDE],
spickle.pos_mid[I2C_LEFT_SIDE],
return 0;
}
+static void spickle_set_qr(uint8_t side)
+{
+ struct quadramp_filter *qr;
+
+ if (side == I2C_LEFT_SIDE)
+ qr = &cobboard.left_spickle.qr;
+ else
+ qr = &cobboard.right_spickle.qr;
+
+ if (state_spicklemode_weak(side))
+ quadramp_set_1st_order_vars(qr, 700, 700); /* set speed */
+ else
+ quadramp_set_1st_order_vars(qr, 3000, 3000); /* set speed */
+}
+
uint8_t spickle_is_packed(uint8_t side)
{
return spickle_is_at_pos(side, spickle.pos_packed[side]);
void spickle_deploy(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);
}
void spickle_mid(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_mid[side]);
}
void spickle_pack(uint8_t side)
{
+ spickle_set_qr(side);
cs_set_consign(&spickle.csb[side]->cs, spickle.pos_packed[side]);
}