+++ /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 1.4 2009-04-24 19:30:42 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 <blocking_detection_manager.h>
-
-#include <parse.h>
-#include <rdline.h>
-
-#include "main.h"
-#include "actuator.h"
-
-/* called every 5 ms */
-static void do_cs(__attribute__((unused)) void *dummy)
-{
- /* read encoders */
- if (mechboard.flags & DO_ENCODERS) {
- encoders_spi_manage(NULL);
- }
- /* control system */
- if (mechboard.flags & DO_CS) {
- if (mechboard.left_arm.on)
- cs_manage(&mechboard.left_arm.cs);
- if (mechboard.right_arm.on)
- cs_manage(&mechboard.right_arm.cs);
- }
- if (mechboard.flags & DO_BD) {
- bd_manage_from_cs(&mechboard.left_arm.bd, &mechboard.left_arm.cs);
- bd_manage_from_cs(&mechboard.right_arm.bd, &mechboard.right_arm.cs);
- }
- if (mechboard.flags & DO_POWER)
- BRAKE_OFF();
- else
- BRAKE_ON();
-}
-
-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)
-{
- /* ---- CS left_arm */
- /* PID */
- pid_init(&mechboard.left_arm.pid);
- pid_set_gains(&mechboard.left_arm.pid, 500, 40, 5000);
- pid_set_maximums(&mechboard.left_arm.pid, 0, 5000, 2400); /* max is 12 V */
- pid_set_out_shift(&mechboard.left_arm.pid, 10);
- pid_set_derivate_filter(&mechboard.left_arm.pid, 4);
-
- /* QUADRAMP */
- quadramp_init(&mechboard.left_arm.qr);
- quadramp_set_1st_order_vars(&mechboard.left_arm.qr, 2000, 2000); /* set speed */
- quadramp_set_2nd_order_vars(&mechboard.left_arm.qr, 20, 20); /* set accel */
-
- /* CS */
- cs_init(&mechboard.left_arm.cs);
- cs_set_consign_filter(&mechboard.left_arm.cs, quadramp_do_filter, &mechboard.left_arm.qr);
- cs_set_correct_filter(&mechboard.left_arm.cs, pid_do_filter, &mechboard.left_arm.pid);
- cs_set_process_in(&mechboard.left_arm.cs, pwm_ng_set, LEFT_ARM_PWM);
- cs_set_process_out(&mechboard.left_arm.cs, encoders_spi_get_value, LEFT_ARM_ENCODER);
- cs_set_consign(&mechboard.left_arm.cs, 0);
-
- /* Blocking detection */
- bd_init(&mechboard.left_arm.bd);
- bd_set_speed_threshold(&mechboard.left_arm.bd, 150);
- bd_set_current_thresholds(&mechboard.left_arm.bd, 500, 8000, 1000000, 40);
-
- /* ---- CS right_arm */
- /* PID */
- pid_init(&mechboard.right_arm.pid);
- pid_set_gains(&mechboard.right_arm.pid, 500, 40, 5000);
- pid_set_maximums(&mechboard.right_arm.pid, 0, 5000, 2400); /* max is 12 V */
- pid_set_out_shift(&mechboard.right_arm.pid, 10);
- pid_set_derivate_filter(&mechboard.right_arm.pid, 6);
-
- /* QUADRAMP */
- quadramp_init(&mechboard.right_arm.qr);
- quadramp_set_1st_order_vars(&mechboard.right_arm.qr, 1000, 1000); /* set speed */
- quadramp_set_2nd_order_vars(&mechboard.right_arm.qr, 20, 20); /* set accel */
-
- /* CS */
- cs_init(&mechboard.right_arm.cs);
- cs_set_consign_filter(&mechboard.right_arm.cs, quadramp_do_filter, &mechboard.right_arm.qr);
- cs_set_correct_filter(&mechboard.right_arm.cs, pid_do_filter, &mechboard.right_arm.pid);
- cs_set_process_in(&mechboard.right_arm.cs, pwm_ng_set, RIGHT_ARM_PWM);
- cs_set_process_out(&mechboard.right_arm.cs, encoders_spi_get_value, RIGHT_ARM_ENCODER);
- cs_set_consign(&mechboard.right_arm.cs, 0);
-
- /* Blocking detection */
- bd_init(&mechboard.right_arm.bd);
- bd_set_speed_threshold(&mechboard.right_arm.bd, 150);
- bd_set_current_thresholds(&mechboard.right_arm.bd, 500, 8000, 1000000, 40);
-
- /* set them on !! */
- mechboard.left_arm.on = 1;
- mechboard.right_arm.on = 1;
-
-
- scheduler_add_periodical_event_priority(do_cs, NULL,
- CS_PERIOD / SCHEDULER_UNIT,
- CS_PRIO);
-}
git.droids-corp.org / aversive.git / blobdiff