}
#endif
+#ifndef HOST_VERSION
+#define DEBUG_CPLD
+#endif
+
+#ifdef DEBUG_CPLD
+extern int16_t g_encoders_spi_previous[4];
+static int32_t ll_prev, rr_prev;
+#endif
+
/* called every 5 ms */
static void do_cs(void *dummy)
{
#ifdef HOST_VERSION
robotsim_update();
#else
+#ifdef DEBUG_CPLD
+ int32_t ll, rr;
+#endif
/* read encoders */
if (mainboard.flags & DO_ENCODERS) {
encoders_spi_manage(NULL);
}
+#ifdef DEBUG_CPLD
+ ll = encoders_spi_get_value(LEFT_ENCODER);
+ rr = encoders_spi_get_value(RIGHT_ENCODER);
+ if ((ll - ll_prev > 3000) || (ll - ll_prev < -3000) ||
+ (rr - rr_prev > 3000) || (rr - rr_prev < -3000)) {
+ 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);
+ }
+ ll_prev = ll;
+ rr_prev = rr;
+#endif
#endif
/* robot system, conversion to angle,distance */
* compensation) */
position_manage(&mainboard.pos);
}
- if (mainboard.flags & DO_BD) {
+ if ((mainboard.flags & DO_BD) && (mainboard.flags & DO_POWER)) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
#ifndef HOST_VERSION
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);
+ }
+ }
#endif
}
#ifndef HOST_VERSION
RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * -1.036);
+ LEFT_ENCODER, IMP_COEF * -1.011718);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * 1.037);
+ RIGHT_ENCODER, IMP_COEF * 1.012695);
#endif
/* rs will use external encoders */
rs_set_flags(&mainboard.rs, RS_USE_EXT);
position_init(&mainboard.pos);
position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
- position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+ // position_set_centrifugal_coef(&mainboard.pos, 0.000016);
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
&mainboard.angle.cs);
trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
- trajectory_set_speed(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
+ trajectory_set_acc(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
/* distance window, angle window, angle start */
trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
- pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+ pid_set_gains(&mainboard.angle.pid, 850, 30, 15000);
+ pid_set_maximums(&mainboard.angle.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
/* Blocking detection */
bd_init(&mainboard.angle.bd);
bd_set_speed_threshold(&mainboard.angle.bd, 80);
- bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 20);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
- pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
+ pid_set_gains(&mainboard.distance.pid, 850, 30, 15000);
+ pid_set_maximums(&mainboard.distance.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
/* Blocking detection */
bd_init(&mainboard.distance.bd);
bd_set_speed_threshold(&mainboard.distance.bd, 60);
- bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 20);
#ifndef HOST_VERSION
/* ---- CS left_cobroller */
#endif /* !HOST_VERSION */
/* set them on !! */
- mainboard.angle.on = 0;
- mainboard.distance.on = 0;
+ mainboard.angle.on = 1;
+ mainboard.distance.on = 1;
mainboard.left_cobroller.on = 1;
mainboard.right_cobroller.on = 1;
+#ifdef DEBUG_CPLD
+ ll_prev = encoders_spi_get_value(LEFT_ENCODER);
+ rr_prev = encoders_spi_get_value(RIGHT_ENCODER);
+#endif
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
+
}