code 2010

[aversive.git] / projects / microb2010 / cobboard / spickle.c

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
new file mode 100644 (file)
index 0000000..db954ed
--- /dev/null
+++ b/projects/microb2010/cobboard/spickle.c
@@ -0,0 +1,200 @@
+/*  
+ *  Copyright Droids Corporation (2009)
+ * 
+ *  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: actuator.c,v 1.4 2009-04-24 19:30:41 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <clock_time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <rdline.h>
+
+#include "sensor.h"
+#include "../common/i2c_commands.h"
+#include "actuator.h"
+#include "main.h"
+
+
+#define OFF 0
+#define WAIT_SENSOR 1
+#define SENSOR_OK 2
+#define WAIT_DOWN 3
+
+static volatile uint8_t spickle_state = OFF;
+static volatile uint32_t spickle_pos_up =  35000;
+static volatile uint32_t spickle_pos_down = 0;
+static volatile uint32_t spickle_delay_up = 500;
+static volatile uint32_t spickle_delay_down = 2000;
+static volatile uint32_t delay = 0;
+static volatile int32_t spickle_k1 = 500, spickle_k2 = 20;
+static volatile int32_t spickle_cmd = 0;
+
+/* init spickle position at beginning */
+static void spickle_autopos(void)
+{
+       pwm_ng_set(LEFT_SPICKLE_PWM, -500);
+       wait_ms(3000);
+       pwm_ng_set(LEFT_SPICKLE_PWM, 0);
+       encoders_spi_set_value(LEFT_SPICKLE_ENCODER, 0);
+}
+
+/* set CS command for spickle */
+void spickle_set(void *mot, int32_t cmd)
+{
+       static int32_t oldpos_left, oldpos_right;
+       int32_t oldpos, pos, maxcmd, speed;
+       
+       if (mot == LEFT_SPICKLE_PWM) {
+               pos = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
+               oldpos = oldpos_left;
+       }
+       else {
+               pos = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
+               oldpos = oldpos_right;
+       }
+
+       speed = pos - oldpos;
+       if (speed > 0 && cmd < 0)
+               maxcmd = spickle_k1;
+       else if (speed < 0 && cmd > 0)
+               maxcmd = spickle_k1;
+       else {
+               speed = ABS(speed);
+               maxcmd = spickle_k1 + spickle_k2 * speed;
+       }
+       if (cmd > maxcmd)
+               cmd = maxcmd;
+       else if (cmd < -maxcmd)
+               cmd = -maxcmd;
+
+       pwm_ng_set(mot, cmd);
+
+       if (mot == LEFT_SPICKLE_PWM)
+               oldpos_left = pos;
+       else
+               oldpos_right = pos;
+}
+
+void spickle_set_coefs(uint32_t k1, uint32_t k2)
+{
+       spickle_k1 = k1;
+       spickle_k2 = k2;
+}
+
+void spickle_set_delays(uint32_t delay_up, uint32_t delay_down)
+{
+       spickle_delay_up = delay_up;
+       spickle_delay_down = delay_down;
+}
+
+void spickle_set_pos(uint32_t pos_up, uint32_t pos_down)
+{
+       spickle_pos_up = pos_up;
+       spickle_pos_down = pos_down;
+}
+
+void spickle_dump_params(void)
+{
+       printf_P(PSTR("coef %ld %ld\r\n"), spickle_k1, spickle_k2);
+       printf_P(PSTR("pos %ld %ld\r\n"), spickle_pos_up, spickle_pos_down);
+       printf_P(PSTR("delay %ld %ld\r\n"), spickle_delay_up, spickle_delay_down);
+}
+
+void spickle_up(void)
+{
+       spickle_state = 0;
+       cs_set_consign(&cobboard.left_spickle.cs, spickle_pos_up);
+}
+
+void spickle_down(void)
+{
+       spickle_state = 0;
+       cs_set_consign(&cobboard.left_spickle.cs, spickle_pos_down);
+}
+
+void spickle_stop(void)
+{
+       spickle_state = 0;
+}
+
+void spickle_auto(void)
+{
+       spickle_state = WAIT_SENSOR;
+       cs_set_consign(&cobboard.left_spickle.cs, spickle_pos_up);
+}
+
+/* for spickle auto mode */
+static void spickle_cb(__attribute__((unused)) void *dummy)
+{
+       static uint8_t prev = 0;
+       uint8_t val;
+
+       val = sensor_get(S_LCOB);
+
+       switch (spickle_state) {
+       case OFF:
+               break;
+       case WAIT_SENSOR:
+               if (val && !prev) {
+                       delay = spickle_delay_up;
+                       spickle_state = SENSOR_OK;
+               }
+               break;
+       case SENSOR_OK:
+               if (delay-- == 0) {
+                       cs_set_consign(&cobboard.left_spickle.cs, spickle_pos_down);
+                       spickle_state = WAIT_DOWN;
+                       delay = spickle_delay_down;
+               }
+               break;
+       case WAIT_DOWN:
+               if (delay-- == 0) {
+                       cs_set_consign(&cobboard.left_spickle.cs, spickle_pos_up);
+                       spickle_state = WAIT_SENSOR;
+               }
+               break;
+       default:
+               break;
+       }
+       prev = val;
+}
+
+void spickle_init(void)
+{
+       spickle_autopos();
+
+       scheduler_add_periodical_event_priority(spickle_cb, NULL, 
+                                               1000L / SCHEDULER_UNIT, 
+                                               SPICKLE_PRIO);
+}