state machine and support balls

[aversive.git] / projects / microb2010 / mainboard / cs.c

diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c
index 8fe9718..39e39ef 100644 (file)
--- a/projects/microb2010/mainboard/cs.c
+++ b/projects/microb2010/mainboard/cs.c
@@ -180,9 +180,9 @@ void microb_cs_init(void)
        rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
        /* increase gain to decrease dist, increase left and it will turn more left */
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value, 
        rs_set_right_pwm(&mainboard.rs,  pwm_set_and_save, RIGHT_PWM);
        /* increase gain to decrease dist, increase left and it will turn more left */
        rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value, 

-                               LEFT_ENCODER, IMP_COEF * 1.0015);
+                               LEFT_ENCODER, IMP_COEF * -1.00);

        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, 
        rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, 

-                                RIGHT_ENCODER, IMP_COEF * -1.006);
+                                RIGHT_ENCODER, IMP_COEF * 1.00);

        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);
 
        /* rs will use external encoders */
        rs_set_flags(&mainboard.rs, RS_USE_EXT);
 


@@ -231,7 +231,7 @@ void microb_cs_init(void)
        /* ---- CS distance */
        /* PID */
        pid_init(&mainboard.distance.pid);
        /* ---- CS distance */
        /* PID */
        pid_init(&mainboard.distance.pid);

-       pid_set_gains(&mainboard.distance.pid, 500, 10, 7000);
+       pid_set_gains(&mainboard.distance.pid, 500, 100, 7000);

        pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
        pid_set_out_shift(&mainboard.distance.pid, 10);
        pid_set_derivate_filter(&mainboard.distance.pid, 6);
        pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095);
        pid_set_out_shift(&mainboard.distance.pid, 10);
        pid_set_derivate_filter(&mainboard.distance.pid, 6);


@@ -257,19 +257,13 @@ void microb_cs_init(void)
        /* ---- CS left_cobroller */
        /* PID */
        pid_init(&mainboard.left_cobroller.pid);
        /* ---- CS left_cobroller */
        /* PID */
        pid_init(&mainboard.left_cobroller.pid);

-       pid_set_gains(&mainboard.left_cobroller.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.left_cobroller.pid, 0, 2000, 4095);
-       pid_set_out_shift(&mainboard.left_cobroller.pid, 10);
+       pid_set_gains(&mainboard.left_cobroller.pid, 80, 10, 10);
+       pid_set_maximums(&mainboard.left_cobroller.pid, 0, 30000, 4095);
+       pid_set_out_shift(&mainboard.left_cobroller.pid, 5);

        pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 
        pid_set_derivate_filter(&mainboard.left_cobroller.pid, 6);
 

-       /* QUADRAMP */
-       quadramp_init(&mainboard.left_cobroller.qr);
-       quadramp_set_1st_order_vars(&mainboard.left_cobroller.qr, 2000, 2000); /* set speed */
-       quadramp_set_2nd_order_vars(&mainboard.left_cobroller.qr, 17, 17); /* set accel */
-

        /* CS */
        cs_init(&mainboard.left_cobroller.cs);
        /* CS */
        cs_init(&mainboard.left_cobroller.cs);

-       cs_set_consign_filter(&mainboard.left_cobroller.cs, quadramp_do_filter, &mainboard.left_cobroller.qr);

        cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
        cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
        cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);
        cs_set_correct_filter(&mainboard.left_cobroller.cs, pid_do_filter, &mainboard.left_cobroller.pid);
        cs_set_process_in(&mainboard.left_cobroller.cs, pwm_ng_set, LEFT_COBROLLER_PWM);
        cs_set_process_out(&mainboard.left_cobroller.cs, encoders_left_cobroller_speed, LEFT_COBROLLER_ENCODER);


@@ -283,19 +277,13 @@ void microb_cs_init(void)
        /* ---- CS right_cobroller */
        /* PID */
        pid_init(&mainboard.right_cobroller.pid);
        /* ---- CS right_cobroller */
        /* PID */
        pid_init(&mainboard.right_cobroller.pid);

-       pid_set_gains(&mainboard.right_cobroller.pid, 500, 10, 7000);
-       pid_set_maximums(&mainboard.right_cobroller.pid, 0, 2000, 4095);
-       pid_set_out_shift(&mainboard.right_cobroller.pid, 10);
+       pid_set_gains(&mainboard.right_cobroller.pid, 80, 10, 10);
+       pid_set_maximums(&mainboard.right_cobroller.pid, 0, 30000, 4095);
+       pid_set_out_shift(&mainboard.right_cobroller.pid, 5);

        pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 
        pid_set_derivate_filter(&mainboard.right_cobroller.pid, 6);
 

-       /* QUADRAMP */
-       quadramp_init(&mainboard.right_cobroller.qr);
-       quadramp_set_1st_order_vars(&mainboard.right_cobroller.qr, 2000, 2000); /* set speed */
-       quadramp_set_2nd_order_vars(&mainboard.right_cobroller.qr, 17, 17); /* set accel */
-

        /* CS */
        cs_init(&mainboard.right_cobroller.cs);
        /* CS */
        cs_init(&mainboard.right_cobroller.cs);

-       cs_set_consign_filter(&mainboard.right_cobroller.cs, quadramp_do_filter, &mainboard.right_cobroller.qr);

        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_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);


@@ -307,10 +295,10 @@ void microb_cs_init(void)
        bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 
        /* set them on !! */
        bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
 
        /* set them on !! */

-       mainboard.angle.on = 1;
-       mainboard.distance.on = 1;
+       mainboard.angle.on = 0;
+       mainboard.distance.on = 0;

        mainboard.left_cobroller.on = 1;
        mainboard.left_cobroller.on = 1;

-       mainboard.right_cobroller.on = 1;
+       mainboard.right_cobroller.on = 0;

 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,
 
 
        scheduler_add_periodical_event_priority(do_cs, NULL,