--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: cs.c,v 1.4 2009-05-27 20:04:07 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <clock_time.h>
+#include <adc.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "main.h"
+#include "actuator.h"
+
+int32_t encoders_spi_update_roller_speed(void *number)
+{
+ static volatile int32_t roller_pos;
+ int32_t tmp, speed;
+ tmp = encoders_spi_get_value(number);
+ speed = tmp - roller_pos;
+ roller_pos = tmp;
+ return speed;
+}
+
+/* called every 5 ms */
+static void do_cs(void *dummy)
+{
+ /* read encoders */
+ if (ballboard.flags & DO_ENCODERS) {
+ encoders_spi_manage(NULL);
+ }
+ /* control system */
+ if (ballboard.flags & DO_CS) {
+ if (ballboard.roller.on)
+ cs_manage(&ballboard.roller.cs);
+ if (ballboard.forktrans.on)
+ cs_manage(&ballboard.forktrans.cs);
+ if (ballboard.forkrot.on)
+ cs_manage(&ballboard.forkrot.cs);
+ }
+ if (ballboard.flags & DO_BD) {
+ bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs);
+ bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs);
+ bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs);
+ }
+ if (ballboard.flags & DO_POWER)
+ BRAKE_OFF();
+ else
+ BRAKE_ON();
+}
+
+void dump_cs(const char *name, struct cs *cs)
+{
+ printf_P(PSTR("%s cons=% .5ld fcons=% .5ld err=% .5ld "
+ "in=% .5ld out=% .5ld\r\n"),
+ name, cs_get_consign(cs), cs_get_filtered_consign(cs),
+ cs_get_error(cs), cs_get_filtered_feedback(cs),
+ cs_get_out(cs));
+}
+
+void dump_pid(const char *name, struct pid_filter *pid)
+{
+ printf_P(PSTR("%s P=% .8ld I=% .8ld D=% .8ld out=% .8ld\r\n"),
+ name,
+ pid_get_value_in(pid) * pid_get_gain_P(pid),
+ pid_get_value_I(pid) * pid_get_gain_I(pid),
+ pid_get_value_D(pid) * pid_get_gain_D(pid),
+ pid_get_value_out(pid));
+}
+
+void microb_cs_init(void)
+{
+ /* ---- CS roller */
+ /* PID */
+ pid_init(&ballboard.roller.pid);
+ pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
+ pid_set_maximums(&ballboard.roller.pid, 0, 10000, 2000);
+ pid_set_out_shift(&ballboard.roller.pid, 6);
+ pid_set_derivate_filter(&ballboard.roller.pid, 6);
+
+ /* CS */
+ cs_init(&ballboard.roller.cs);
+ cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid);
+ cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM);
+ cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER);
+ cs_set_consign(&ballboard.roller.cs, 0);
+
+ /* ---- CS forktrans */
+ /* PID */
+ pid_init(&ballboard.forktrans.pid);
+ pid_set_gains(&ballboard.forktrans.pid, 200, 5, 250);
+ pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047);
+ pid_set_out_shift(&ballboard.forktrans.pid, 6);
+ pid_set_derivate_filter(&ballboard.forktrans.pid, 6);
+
+ /* QUADRAMP */
+ quadramp_init(&ballboard.forktrans.qr);
+ quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */
+ quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */
+
+ /* CS */
+ cs_init(&ballboard.forktrans.cs);
+ cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr);
+ cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid);
+ cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM);
+ cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER);
+ cs_set_consign(&ballboard.forktrans.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&ballboard.forktrans.bd);
+ bd_set_speed_threshold(&ballboard.forktrans.bd, 150);
+ bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 40);
+
+ /* ---- CS forkrot */
+ /* PID */
+ pid_init(&ballboard.forkrot.pid);
+ pid_set_gains(&ballboard.forkrot.pid, 200, 5, 250);
+ pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047);
+ pid_set_out_shift(&ballboard.forkrot.pid, 6);
+ pid_set_derivate_filter(&ballboard.forkrot.pid, 6);
+
+ /* QUADRAMP */
+ quadramp_init(&ballboard.forkrot.qr);
+ quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 200); /* set speed */
+ quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */
+
+ /* CS */
+ cs_init(&ballboard.forkrot.cs);
+ cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr);
+ cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid);
+ cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM);
+ cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER);
+ cs_set_consign(&ballboard.forkrot.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&ballboard.forkrot.bd);
+ bd_set_speed_threshold(&ballboard.forkrot.bd, 150);
+ bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 40);
+
+ /* set them on !! */
+ ballboard.roller.on = 0;
+ ballboard.forktrans.on = 1;
+ ballboard.forkrot.on = 1;
+
+
+ scheduler_add_periodical_event_priority(do_cs, NULL,
+ 5000L / SCHEDULER_UNIT,
+ CS_PRIO);
+}
git.droids-corp.org / aversive.git / blobdiff