#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <clock_time.h>
#include <adc.h>
#include <pid.h>
#include "strat.h"
#include "actuator.h"
+int32_t encoders_left_cobroller_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;
+}
+
+int32_t encoders_right_cobroller_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)
{
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
+ if (mainboard.left_cobroller.on)
+ cs_manage(&mainboard.left_cobroller.cs);
+ if (mainboard.right_cobroller.on)
+ cs_manage(&mainboard.right_cobroller.cs);
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
if (mainboard.flags & DO_BD) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
+ 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_TIMER) {
uint8_t second;
bd_set_speed_threshold(&mainboard.distance.bd, 60);
bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+ /* ---- 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_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_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_consign(&mainboard.left_cobroller.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.left_cobroller.bd);
+ bd_set_speed_threshold(&mainboard.left_cobroller.bd, 60);
+ bd_set_current_thresholds(&mainboard.left_cobroller.bd, 500, 8000, 1000000, 50);
+
+ /* ---- 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_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_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_consign(&mainboard.right_cobroller.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.right_cobroller.bd);
+ bd_set_speed_threshold(&mainboard.right_cobroller.bd, 60);
+ bd_set_current_thresholds(&mainboard.right_cobroller.bd, 500, 8000, 1000000, 50);
+
/* set them on !! */
mainboard.angle.on = 1;
mainboard.distance.on = 1;
+ mainboard.left_cobroller.on = 1;
+ mainboard.right_cobroller.on = 1;
scheduler_add_periodical_event_priority(do_cs, NULL,