--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * 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: actuator.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <encoders_microb.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+
+#include "sensor.h"
+#include "main.h"
+
+#define OFF 0
+#define WAIT_SENSOR 1
+#define SENSOR_OK 2
+#define WAIT_DOWN 3
+
+static volatile uint8_t fessor_state = OFF;
+static volatile uint32_t fessor_pos_up = 35000;
+static volatile uint32_t fessor_pos_down = 63500;
+static volatile uint32_t fessor_delay_up = 500;
+static volatile uint32_t fessor_delay_down = 2000;
+static volatile uint32_t delay = 0;
+static volatile int32_t fessor_k1 = 500, fessor_k2 = 20;
+static volatile int32_t fessor_cmd = 0;
+
+
+static volatile uint8_t elevator_state = OFF;
+static volatile uint32_t elevator_pos_up = -8000;
+static volatile uint32_t elevator_pos_down = 0;
+static volatile uint32_t elevator_delay_up = 500;
+static volatile uint32_t elevator_delay_down = 2000;
+//static volatile uint32_t delay = 0;
+static volatile int32_t elevator_k1 = 500, elevator_k2 = 20;
+static volatile int32_t elevator_cmd = 0;
+
+void pwm_set_and_save(void *pwm, int32_t val)
+{
+ /* we need to do the saturation here, before saving the
+ * value */
+ if (val > 4095)
+ val = 4095;
+ if (val < -4095)
+ val = -4095;
+
+ if (pwm == LEFT_PWM)
+ mainboard.pwm_l = val;
+ else if (pwm == RIGHT_PWM)
+ mainboard.pwm_r = val;
+ pwm_ng_set(pwm, val);
+}
+
+void pickup_wheels_on(void)
+{
+ mainboard.enable_pickup_wheels = 1;
+}
+
+void pickup_wheels_off(void)
+{
+ mainboard.enable_pickup_wheels = 0;
+}
+
+/* init fessor position at beginning */
+void fessor_autopos(void)
+{
+ pwm_ng_set(FESSOR_PWM, -500);
+ wait_ms(3000);
+ pwm_ng_set(FESSOR_PWM, 0);
+}
+
+/* set CS command for fessor */
+void fessor_set(void *dummy, int32_t cmd)
+{
+ fessor_cmd = cmd;
+}
+
+void fessor_set_coefs(uint32_t k1, uint32_t k2)
+{
+ fessor_k1 = k1;
+ fessor_k2 = k2;
+}
+
+void fessor_set_delays(uint32_t delay_up, uint32_t delay_down)
+{
+ fessor_delay_up = delay_up;
+ fessor_delay_down = delay_down;
+}
+
+void fessor_set_pos(uint32_t pos_up, uint32_t pos_down)
+{
+ fessor_pos_up = pos_up;
+ fessor_pos_down = pos_down;
+}
+
+void fessor_dump_params(void)
+{
+ printf_P(PSTR("coef %ld %ld\r\n"), fessor_k1, fessor_k2);
+ printf_P(PSTR("pos %ld %ld\r\n"), fessor_pos_up, fessor_pos_down);
+ printf_P(PSTR("delay %ld %ld\r\n"), fessor_delay_up, fessor_delay_down);
+}
+
+/* called by CS perdiodically (current limit) */
+void fessor_manage(void)
+{
+ static int32_t oldpos = 0;
+ int32_t pos, maxcmd, speed, cmd;
+
+ cmd = fessor_cmd;
+ pos = encoders_microb_get_value(FESSOR_ENC);
+ speed = pos - oldpos;
+ if (speed > 0 && cmd < 0)
+ maxcmd = fessor_k1;
+ else if (speed < 0 && cmd > 0)
+ maxcmd = fessor_k1;
+ else {
+ speed = ABS(speed);
+ maxcmd = fessor_k1 + fessor_k2 * speed;
+ }
+ if (cmd > maxcmd)
+ cmd = maxcmd;
+ else if (cmd < -maxcmd)
+ cmd = -maxcmd;
+
+ pwm_ng_set(FESSOR_PWM, cmd);
+
+ oldpos = pos;
+}
+
+void fessor_up(void)
+{
+ fessor_state = 0;
+ cs_set_consign(&mainboard.fessor.cs, fessor_pos_up);
+}
+
+void fessor_down(void)
+{
+ fessor_state = 0;
+ cs_set_consign(&mainboard.fessor.cs, fessor_pos_down);
+}
+
+void fessor_stop(void)
+{
+ fessor_state = 0;
+}
+
+void fessor_auto(void)
+{
+ fessor_state = WAIT_SENSOR;
+ cs_set_consign(&mainboard.fessor.cs, fessor_pos_up);
+}
+
+/* for fessor auto mode */
+static void fessor_cb(void *dummy)
+{
+ static uint8_t prev = 0;
+ uint8_t val;
+
+ val = !sensor_get(0);
+
+ switch (fessor_state) {
+ case OFF:
+ break;
+ case WAIT_SENSOR:
+ if (val && !prev) {
+ delay = fessor_delay_up;
+ fessor_state = SENSOR_OK;
+ }
+ break;
+ case SENSOR_OK:
+ if (delay-- == 0) {
+ cs_set_consign(&mainboard.fessor.cs, fessor_pos_down);
+ fessor_state = WAIT_DOWN;
+ delay = fessor_delay_down;
+ }
+ break;
+ case WAIT_DOWN:
+ if (delay-- == 0) {
+ cs_set_consign(&mainboard.fessor.cs, fessor_pos_up);
+ fessor_state = WAIT_SENSOR;
+ }
+ break;
+ default:
+ break;
+ }
+ prev = val;
+}
+
+void fessor_init(void)
+{
+ scheduler_add_periodical_event_priority(fessor_cb, NULL,
+ 1000L / SCHEDULER_UNIT,
+ FESSOR_PRIO);
+}
+
+
+
+
+
+
+
+
+/* init elevator position at beginning */
+void elevator_autopos(void)
+{
+ pwm_ng_set(ELEVATOR_PWM, 300);
+ wait_ms(4000);
+ pwm_ng_set(ELEVATOR_PWM, 0);
+}
+
+/* set CS command for elevator */
+void elevator_set(void *dummy, int32_t cmd)
+{
+ elevator_cmd = cmd;
+}
+
+void elevator_set_coefs(uint32_t k1, uint32_t k2)
+{
+ elevator_k1 = k1;
+ elevator_k2 = k2;
+}
+
+void elevator_set_delays(uint32_t delay_up, uint32_t delay_down)
+{
+ elevator_delay_up = delay_up;
+ elevator_delay_down = delay_down;
+}
+
+void elevator_set_pos(uint32_t pos_up, uint32_t pos_down)
+{
+ elevator_pos_up = pos_up;
+ elevator_pos_down = pos_down;
+}
+
+void elevator_dump_params(void)
+{
+ printf_P(PSTR("coef %ld %ld\r\n"), elevator_k1, elevator_k2);
+ printf_P(PSTR("pos %ld %ld\r\n"), elevator_pos_up, elevator_pos_down);
+ printf_P(PSTR("delay %ld %ld\r\n"), elevator_delay_up, elevator_delay_down);
+}
+
+/* called by CS perdiodically (current limit) */
+void elevator_manage(void)
+{
+ static int32_t oldpos = 0;
+ int32_t pos, maxcmd, speed, cmd;
+
+ cmd = elevator_cmd;
+ pos = encoders_microb_get_value(ELEVATOR_ENC);
+ speed = pos - oldpos;
+ if (speed > 0 && cmd < 0)
+ maxcmd = elevator_k1;
+ else if (speed < 0 && cmd > 0)
+ maxcmd = elevator_k1;
+ else {
+ speed = ABS(speed);
+ maxcmd = elevator_k1 + elevator_k2 * speed;
+ }
+ if (cmd > maxcmd)
+ cmd = maxcmd;
+ else if (cmd < -maxcmd)
+ cmd = -maxcmd;
+
+ pwm_ng_set(ELEVATOR_PWM, cmd);
+
+ oldpos = pos;
+}
+
+void elevator_up(void)
+{
+ elevator_state = 0;
+ cs_set_consign(&mainboard.elevator.cs, elevator_pos_up);
+}
+
+void elevator_down(void)
+{
+ elevator_state = 0;
+ cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
+}
+
+void elevator_stop(void)
+{
+ elevator_state = 0;
+}
+
+void elevator_auto(void)
+{
+ elevator_state = WAIT_SENSOR;
+ cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
+}
+
+/* for elevator auto mode */
+static void elevator_cb(void *dummy)
+{
+ static uint8_t prev = 0;
+ uint8_t val;
+
+ val = !sensor_get(0);
+
+ switch (elevator_state) {
+ case OFF:
+ break;
+ case WAIT_SENSOR:
+ if (val && !prev) {
+ delay = elevator_delay_up;
+ elevator_state = SENSOR_OK;
+ }
+ break;
+ case SENSOR_OK:
+ if (delay-- == 0) {
+ cs_set_consign(&mainboard.elevator.cs, elevator_pos_up);
+ elevator_state = WAIT_DOWN;
+ delay = elevator_delay_down;
+ }
+ break;
+ case WAIT_DOWN:
+ if (delay-- == 0) {
+ cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
+ elevator_state = WAIT_SENSOR;
+ }
+ break;
+ default:
+ break;
+ }
+ prev = val;
+}
+
+void elevator_init(void)
+{
+ scheduler_add_periodical_event_priority(elevator_cb, NULL,
+ 1000L / SCHEDULER_UNIT,
+ ELEVATOR_PRIO);
+}
git.droids-corp.org / aversive.git / blobdiff