--- /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 1.9 2009-11-08 17:24:33 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 <time.h>
+#include <adc.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "main.h"
+#include "strat.h"
+#include "actuator.h"
+
+/* called every 5 ms */
+static void do_cs(void *dummy)
+{
+ static uint16_t cpt = 0;
+ static int32_t old_a = 0, old_d = 0;
+
+ /* read encoders */
+ if (mainboard.flags & DO_ENCODERS) {
+ encoders_spi_manage(NULL);
+ }
+
+ /* XXX there is an issue which is probably related to avr-libc
+ * 1.6.2 (debian): this code using fixed_point lib does not
+ * work with it */
+ /* robot system, conversion to angle,distance */
+ if (mainboard.flags & DO_RS) {
+ int16_t a,d;
+ rs_update(&mainboard.rs); /* takes about 0.5 ms */
+ /* process and store current speed */
+ a = rs_get_angle(&mainboard.rs);
+ d = rs_get_distance(&mainboard.rs);
+ mainboard.speed_a = a - old_a;
+ mainboard.speed_d = d - old_d;
+ old_a = a;
+ old_d = d;
+ }
+
+ /* control system */
+ if (mainboard.flags & DO_CS) {
+ if (mainboard.angle.on)
+ cs_manage(&mainboard.angle.cs);
+ if (mainboard.distance.on)
+ cs_manage(&mainboard.distance.cs);
+ }
+ if ((cpt & 1) && (mainboard.flags & DO_POS)) {
+ /* about 1.5ms (worst case without centrifugal force
+ * compensation) */
+ position_manage(&mainboard.pos);
+ }
+ 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);
+ }
+ if (mainboard.flags & DO_TIMER) {
+ uint8_t second;
+ /* the robot should stop correctly in the strat, but
+ * in some cases, we must force the stop from an
+ * interrupt */
+ second = time_get_s();
+ if (second >= MATCH_TIME + 2) {
+ pwm_ng_set(LEFT_PWM, 0);
+ pwm_ng_set(RIGHT_PWM, 0);
+ printf_P(PSTR("END OF TIME\r\n"));
+ while(1);
+ }
+ }
+ /* brakes */
+ if (mainboard.flags & DO_POWER)
+ BRAKE_OFF();
+ else
+ BRAKE_ON();
+ cpt++;
+}
+
+void dump_cs_debug(const char *name, struct cs *cs)
+{
+ DEBUG(E_USER_CS, "%s cons=% .5ld fcons=% .5ld err=% .5ld "
+ "in=% .5ld out=% .5ld",
+ 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_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)
+{
+ /* ROBOT_SYSTEM */
+ rs_init(&mainboard.rs);
+ rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM);
+ 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);
+ rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
+ RIGHT_ENCODER, IMP_COEF * -1.006);
+ /* rs will use external encoders */
+ rs_set_flags(&mainboard.rs, RS_USE_EXT);
+
+ /* POSITION MANAGER */
+ position_init(&mainboard.pos);
+ position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
+ position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
+ position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+ position_use_ext(&mainboard.pos);
+
+ /* TRAJECTORY MANAGER */
+ trajectory_init(&mainboard.traj);
+ trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs,
+ &mainboard.angle.cs);
+ trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos);
+ trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */
+ /* distance window, angle window, angle start */
+ trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.);
+
+ /* ---- CS angle */
+ /* PID */
+ pid_init(&mainboard.angle.pid);
+ pid_set_gains(&mainboard.angle.pid, 500, 10, 7000);
+ pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095);
+ pid_set_out_shift(&mainboard.angle.pid, 10);
+ pid_set_derivate_filter(&mainboard.angle.pid, 4);
+
+ /* QUADRAMP */
+ quadramp_init(&mainboard.angle.qr);
+ quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */
+ quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */
+
+ /* CS */
+ cs_init(&mainboard.angle.cs);
+ cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr);
+ cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid);
+ cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs);
+ cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs);
+ cs_set_consign(&mainboard.angle.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.angle.bd);
+ bd_set_speed_threshold(&mainboard.angle.bd, 80);
+ bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50);
+
+ /* ---- CS distance */
+ /* PID */
+ pid_init(&mainboard.distance.pid);
+ pid_set_gains(&mainboard.distance.pid, 500, 10, 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);
+
+ /* QUADRAMP */
+ quadramp_init(&mainboard.distance.qr);
+ quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */
+ quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */
+
+ /* CS */
+ cs_init(&mainboard.distance.cs);
+ cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr);
+ cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid);
+ cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs);
+ cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs);
+ cs_set_consign(&mainboard.distance.cs, 0);
+
+ /* Blocking detection */
+ bd_init(&mainboard.distance.bd);
+ bd_set_speed_threshold(&mainboard.distance.bd, 60);
+ bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50);
+
+ /* set them on !! */
+ mainboard.angle.on = 1;
+ mainboard.distance.on = 1;
+
+
+ scheduler_add_periodical_event_priority(do_cs, NULL,
+ 5000L / SCHEDULER_UNIT,
+ CS_PRIO);
+}
git.droids-corp.org / aversive.git / blobdiff