oranges and enhance strats

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

diff --git a/projects/microb2010/mainboard/strat_base.c b/projects/microb2010/mainboard/strat_base.c
index acded68..8716486 100644 (file)
--- a/projects/microb2010/mainboard/strat_base.c
+++ b/projects/microb2010/mainboard/strat_base.c
@@ -156,6 +156,25 @@ void strat_reset_pos(int16_t x, int16_t y, int16_t a)
        if (a == DO_NOT_SET_POS)
                a = posa;
 
        if (a == DO_NOT_SET_POS)
                a = posa;
 

+       /* some issues with blocking on simulator */
+#ifdef HOST_VERSION
+       if (x == ROBOT_HALF_LENGTH_REAR)
+               x = ROBOT_HALF_LENGTH_REAR + 10;
+       if (x == AREA_X - ROBOT_HALF_LENGTH_REAR)
+               x = AREA_X - ROBOT_HALF_LENGTH_REAR - 10;
+       if (y == ROBOT_HALF_LENGTH_REAR)
+               y = ROBOT_HALF_LENGTH_REAR + 10;
+       if (y == AREA_Y - ROBOT_HALF_LENGTH_REAR)
+               y = AREA_Y - ROBOT_HALF_LENGTH_REAR - 10;
+       if (x == ROBOT_HALF_LENGTH_FRONT)
+               x = ROBOT_HALF_LENGTH_FRONT + 10;
+       if (x == AREA_X - ROBOT_HALF_LENGTH_FRONT)
+               x = AREA_X - ROBOT_HALF_LENGTH_FRONT - 10;
+       if (y == ROBOT_HALF_LENGTH_FRONT)
+               y = ROBOT_HALF_LENGTH_FRONT + 10;
+       if (y == AREA_Y - ROBOT_HALF_LENGTH_FRONT)
+               y = AREA_Y - ROBOT_HALF_LENGTH_FRONT - 10;
+#endif

        DEBUG(E_USER_STRAT, "reset pos (%s%s%s)",
              x == DO_NOT_SET_POS ? "" : "x",
              y == DO_NOT_SET_POS ? "" : "y",
        DEBUG(E_USER_STRAT, "reset pos (%s%s%s)",
              x == DO_NOT_SET_POS ? "" : "x",
              y == DO_NOT_SET_POS ? "" : "y",


@@ -176,14 +195,45 @@ uint8_t strat_calib(int16_t dist, uint8_t flags)
        int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
        int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
        int32_t max_out = pid_get_max_out(&mainboard.angle.pid);
        int32_t max_in = pid_get_max_in(&mainboard.angle.pid);
        int32_t max_i = pid_get_max_I(&mainboard.angle.pid);
        int32_t max_out = pid_get_max_out(&mainboard.angle.pid);

+       uint32_t i_thres = mainboard.distance.bd.i_thres;
+       int32_t k1 = mainboard.distance.bd.k1;
+       int32_t k2 = mainboard.distance.bd.k2;
+       uint16_t cpt_thres = mainboard.distance.bd.cpt_thres;
+

        uint8_t err;
 
        uint8_t err;
 

+       /* go with a lower angle pid, and with a sensible blocking
+        * detection */
+       bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 400000, 20);

        pid_set_maximums(&mainboard.distance.pid, 0, 20000, 1000);
        pid_set_maximums(&mainboard.distance.pid, 0, 20000, 1000);

-       pid_set_gains(&mainboard.angle.pid, 200, 0, 2000);
+       pid_set_gains(&mainboard.angle.pid, 500, 10, 4000);

        trajectory_d_rel(&mainboard.traj, dist);
        err = wait_traj_end(flags);
        trajectory_d_rel(&mainboard.traj, dist);
        err = wait_traj_end(flags);

+       if (err != END_BLOCKING)
+               goto fail;
+
+       /* we detected a blocking, reset bd, remove angle pid and
+        * continue */
+       trajectory_d_rel(&mainboard.traj, dist);
+       pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
+       pid_set_gains(&mainboard.angle.pid, 1, 0, 0);
+       time_wait_ms(300);
+       strat_hardstop();
+
+#ifdef HOST_VERSION
+       /* issue with block on simulator */
+       if (dist > 0)
+               trajectory_d_rel(&mainboard.traj, -10);
+       else
+               trajectory_d_rel(&mainboard.traj, 10);
+       wait_traj_end(END_TRAJ);
+#endif
+
+ fail:

        pid_set_gains(&mainboard.angle.pid, p, i, d);
        pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);
        pid_set_gains(&mainboard.angle.pid, p, i, d);
        pid_set_maximums(&mainboard.distance.pid, max_in, max_i, max_out);

+       bd_set_current_thresholds(&mainboard.distance.bd, k1, k2, i_thres, cpt_thres);
+

        return err;
 }
 
        return err;
 }