2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 * Revision : $Id: cs.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
28 #include <aversive/error.h>
32 #include <encoders_spi.h>
35 #include <scheduler.h>
36 #include <clock_time.h>
41 #include <control_system_manager.h>
42 #include <trajectory_manager.h>
43 #include <vect_base.h>
46 #include <obstacle_avoidance.h>
47 #include <blocking_detection_manager.h>
48 #include <robot_system.h>
49 #include <position_manager.h>
59 void dump_cs(const char *name, struct cs *cs);
62 int32_t encoders_left_cobroller_speed(void *number)
64 static volatile int32_t roller_pos;
66 tmp = encoders_spi_get_value(number);
67 speed = tmp - roller_pos;
72 int32_t encoders_right_cobroller_speed(void *number)
74 static volatile int32_t roller_pos;
76 tmp = encoders_spi_get_value(number);
77 speed = tmp - roller_pos;
83 /* called every 5 ms */
84 static void do_cs(void *dummy)
86 static uint16_t cpt = 0;
87 static int32_t old_a = 0, old_d = 0;
93 if (mainboard.flags & DO_ENCODERS) {
94 encoders_spi_manage(NULL);
98 /* robot system, conversion to angle,distance */
99 if (mainboard.flags & DO_RS) {
101 rs_update(&mainboard.rs); /* takes about 0.5 ms */
102 /* process and store current speed */
103 a = rs_get_angle(&mainboard.rs);
104 d = rs_get_distance(&mainboard.rs);
105 mainboard.speed_a = a - old_a;
106 mainboard.speed_d = d - old_d;
112 if (mainboard.flags & DO_CS) {
113 if (mainboard.angle.on)
114 cs_manage(&mainboard.angle.cs);
115 if (mainboard.distance.on)
116 cs_manage(&mainboard.distance.cs);
118 if (mainboard.left_cobroller.on)
119 cs_manage(&mainboard.left_cobroller.cs);
120 if (mainboard.right_cobroller.on)
121 cs_manage(&mainboard.right_cobroller.cs);
124 if ((cpt & 1) && (mainboard.flags & DO_POS)) {
125 /* about 1.5ms (worst case without centrifugal force
127 position_manage(&mainboard.pos);
129 if (mainboard.flags & DO_BD) {
130 bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
131 bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
133 bd_manage_from_cs(&mainboard.left_cobroller.bd, &mainboard.left_cobroller.cs);
134 bd_manage_from_cs(&mainboard.right_cobroller.bd, &mainboard.right_cobroller.cs);
138 if (mainboard.flags & DO_TIMER) {
140 /* the robot should stop correctly in the strat, but
141 * in some cases, we must force the stop from an
143 second = time_get_s();
144 if (second >= MATCH_TIME + 2) {
145 pwm_ng_set(LEFT_PWM, 0);
146 pwm_ng_set(RIGHT_PWM, 0);
147 printf_P(PSTR("END OF TIME\r\n"));
153 if (mainboard.flags & DO_POWER)
160 if ((cpt & 7) == 0) {
161 // dump_cs("dist", &mainboard.distance.cs);
167 void dump_cs_debug(const char *name, struct cs *cs)
169 DEBUG(E_USER_CS, "%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
170 "in=% .5"PRIi32" out=% .5"PRIi32"",
171 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
172 cs_get_error(cs), cs_get_filtered_feedback(cs),
176 void dump_cs(const char *name, struct cs *cs)
178 printf_P(PSTR("%s cons=% .5"PRIi32" fcons=% .5"PRIi32" err=% .5"PRIi32" "
179 "in=% .5"PRIi32" out=% .5"PRIi32"\r\n"),
180 name, cs_get_consign(cs), cs_get_filtered_consign(cs),
181 cs_get_error(cs), cs_get_filtered_feedback(cs),
185 void dump_pid(const char *name, struct pid_filter *pid)
187 printf_P(PSTR("%s P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
189 pid_get_value_in(pid) * pid_get_gain_P(pid),
190 pid_get_value_I(pid) * pid_get_gain_I(pid),
191 pid_get_value_D(pid) * pid_get_gain_D(pid),
192 pid_get_value_out(pid));
195 void microb_cs_init(void)
198 rs_init(&mainboard.rs);
199 rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
200 rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM);
201 /* increase gain to decrease dist, increase left and it will turn more left */
203 rs_set_left_ext_encoder(&mainboard.rs, robotsim_encoder_get,
204 LEFT_ENCODER, IMP_COEF * 1.);
205 rs_set_right_ext_encoder(&mainboard.rs, robotsim_encoder_get,
206 RIGHT_ENCODER, IMP_COEF * 1.);
208 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
209 LEFT_ENCODER, IMP_COEF * -1.036);
210 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
211 RIGHT_ENCODER, IMP_COEF * 1.037);
213 /* rs will use external encoders */
214 rs_set_flags(&mainboard.rs, RS_USE_EXT);
216 /* POSITION MANAGER */
217 position_init(&mainboard.pos);
218 position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
219 position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
220 position_set_centrifugal_coef(&mainboard.pos, 0.000016);
221 position_use_ext(&mainboard.pos);
223 /* TRAJECTORY MANAGER */
224 trajectory_init(&mainboard.traj, CS_HZ);
225 trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
226 &mainboard.angle.cs);
227 trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
228 trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
229 trajectory_set_speed(&mainboard.traj, ACC_DIST, ACC_ANGLE); /* d, a */
230 /* distance window, angle window, angle start */
231 trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
235 pid_init(&mainboard.angle.pid);
236 pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
237 pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
238 pid_set_out_shift(&mainboard.angle.pid, 10);
239 pid_set_derivate_filter(&mainboard.angle.pid, 4);
242 quadramp_init(&mainboard.angle.qr);
243 quadramp_set_1st_order_vars(&mainboard.angle.qr, 500, 500); /* set speed */
244 quadramp_set_2nd_order_vars(&mainboard.angle.qr, 5, 5); /* set accel */
247 cs_init(&mainboard.angle.cs);
248 cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
249 cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
250 cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
251 cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
252 cs_set_consign(&mainboard.angle.cs, 0);
254 /* Blocking detection */
255 bd_init(&mainboard.angle.bd);
256 bd_set_speed_threshold(&mainboard.angle.bd, 80);
257 bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
259 /* ---- CS distance */
261 pid_init(&mainboard.distance.pid);
262 pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
263 pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
264 pid_set_out_shift(&mainboard.distance.pid, 10);
265 pid_set_derivate_filter(&mainboard.distance.pid, 6);
268 quadramp_init(&mainboard.distance.qr);
269 quadramp_set_1st_order_vars(&mainboard.distance.qr, 500, 500); /* set speed */
270 quadramp_set_2nd_order_vars(&mainboard.distance.qr, 5., 5.); /* set accel */
273 cs_init(&mainboard.distance.cs);
274 cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
275 cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
276 cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
277 cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
278 cs_set_consign(&mainboard.distance.cs, 0);
280 /* Blocking detection */
281 bd_init(&mainboard.distance.bd);
282 bd_set_speed_threshold(&mainboard.distance.bd, 60);
283 bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
286 /* ---- CS left_cobroller */
288 pid_init(&mainboard.left_cobroller.pid);
289 pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
290 pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
291 pid_set_out_shift(&mainboard.left_cobroller.pid, 5);
292 pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
295 cs_init(&mainboard.left_cobroller.cs);
296 cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
297 cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
298 cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
299 cs_set_consign(&mainboard.left_cobroller.cs, 0);
301 /* Blocking detection */
302 bd_init(&mainboard.left_cobroller.bd);
303 bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
304 bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
306 /* ---- CS right_cobroller */
308 pid_init(&mainboard.right_cobroller.pid);
309 pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
310 pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
311 pid_set_out_shift(&mainboard.right_cobroller.pid, 5);
312 pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
315 cs_init(&mainboard.right_cobroller.cs);
316 cs_set_correct_filter(&mainboard.right_cobroller.cs, pid_do_filter, &mainboard.right_cobroller.pid);
317 cs_set_process_in(&mainboard.right_cobroller.cs, pwm_ng_set, RIGHT_COBROLLER_PWM);
318 cs_set_process_out(&mainboard.right_cobroller.cs, encoders_right_cobroller_speed, RIGHT_COBROLLER_ENCODER);
319 cs_set_consign(&mainboard.right_cobroller.cs, 0);
321 /* Blocking detection */
322 bd_init(&mainboard.right_cobroller.bd);
323 bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
324 bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
325 #endif /* !HOST_VERSION */
328 mainboard.angle.on = 0;
329 mainboard.distance.on = 0;
330 mainboard.left_cobroller.on = 1;
331 mainboard.right_cobroller.on = 1;
334 scheduler_add_periodical_event_priority(do_cs, NULL,
335 5000L / SCHEDULER_UNIT,