#include "strat.h"
#include "actuator.h"
+void dump_cs(const char *name, struct cs *cs);
+
#ifndef HOST_VERSION
int32_t encoders_left_cobroller_speed(void *number)
{
* 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
cpt++;
#ifdef HOST_VERSION
- if ((cpt & 7) == 0)
+ if ((cpt & 7) == 0) {
robotsim_dump();
+ }
#endif
}
/* increase gain to decrease dist, increase left and it will turn more left */
#ifdef HOST_VERSION
rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
- LEFT_ENCODER, IMP_COEF);
+ LEFT_ENCODER, IMP_COEF * 1.);
rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
- RIGHT_ENCODER, IMP_COEF);
+ RIGHT_ENCODER, IMP_COEF * 1.);
#else
rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- LEFT_ENCODER, IMP_COEF * -1.00);
+ LEFT_ENCODER, IMP_COEF * -1.011718);
rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
- RIGHT_ENCODER, IMP_COEF * 1.00);
+ 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, 0.000025);
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
- trajectory_init(&mainboard.traj);
+ trajectory_init(&mainboard.traj, CS_HZ);
trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
&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_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);
/* QUADRAMP */
quadramp_init(&mainboard.angle.qr);
- quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
+ quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
+ quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
/* CS */
cs_init(&mainboard.angle.cs);
/* 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, 100, 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);
/* QUADRAMP */
quadramp_init(&mainboard.distance.qr);
- quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
+ quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
+ quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
/* CS */
cs_init(&mainboard.distance.cs);
/* 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 */
cs_init(&mainboard.right_cobroller.cs);
cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
- cs_set_process_out(&mainboard.right_cobroller.cs, encoders_left_cobroller_speed, RIGHT_COBROLLER_ENCODER);
+ cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
cs_set_consign(&mainboard.right_cobroller.cs, 0);
/* Blocking detection */
#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 = 0;
-
+ mainboard.right_cobroller.on = 1;
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
+
}