X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;fp=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=7e87fcab4b49f3c61f47ce31f9c99b393ddb203a;hp=0000000000000000000000000000000000000000;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c new file mode 100644 index 0000000..7e87fca --- /dev/null +++ b/projects/microb2010/ballboard/cs.c @@ -0,0 +1,183 @@ +/* + * Copyright Droids Corporation + * Olivier Matz + * + * 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 2009-05-27 20:04:07 zer0 Exp $ + * + */ + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include "main.h" +#include "actuator.h" + +int32_t encoders_spi_update_roller_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) +{ + /* read encoders */ + if (ballboard.flags & DO_ENCODERS) { + encoders_spi_manage(NULL); + } + /* control system */ + if (ballboard.flags & DO_CS) { + if (ballboard.roller.on) + cs_manage(&ballboard.roller.cs); + if (ballboard.forktrans.on) + cs_manage(&ballboard.forktrans.cs); + if (ballboard.forkrot.on) + cs_manage(&ballboard.forkrot.cs); + } + if (ballboard.flags & DO_BD) { + bd_manage_from_cs(&ballboard.roller.bd, &ballboard.roller.cs); + bd_manage_from_cs(&ballboard.forktrans.bd, &ballboard.forktrans.cs); + bd_manage_from_cs(&ballboard.forkrot.bd, &ballboard.forkrot.cs); + } + if (ballboard.flags & DO_POWER) + BRAKE_OFF(); + else + BRAKE_ON(); +} + +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 roller */ + /* PID */ + pid_init(&ballboard.roller.pid); + pid_set_gains(&ballboard.roller.pid, 80, 80, 250); + pid_set_maximums(&ballboard.roller.pid, 0, 10000, 2000); + pid_set_out_shift(&ballboard.roller.pid, 6); + pid_set_derivate_filter(&ballboard.roller.pid, 6); + + /* CS */ + cs_init(&ballboard.roller.cs); + cs_set_correct_filter(&ballboard.roller.cs, pid_do_filter, &ballboard.roller.pid); + cs_set_process_in(&ballboard.roller.cs, pwm_ng_set, ROLLER_PWM); + cs_set_process_out(&ballboard.roller.cs, encoders_spi_update_roller_speed, ROLLER_ENCODER); + cs_set_consign(&ballboard.roller.cs, 0); + + /* ---- CS forktrans */ + /* PID */ + pid_init(&ballboard.forktrans.pid); + pid_set_gains(&ballboard.forktrans.pid, 200, 5, 250); + pid_set_maximums(&ballboard.forktrans.pid, 0, 10000, 2047); + pid_set_out_shift(&ballboard.forktrans.pid, 6); + pid_set_derivate_filter(&ballboard.forktrans.pid, 6); + + /* QUADRAMP */ + quadramp_init(&ballboard.forktrans.qr); + quadramp_set_1st_order_vars(&ballboard.forktrans.qr, 200, 200); /* set speed */ + quadramp_set_2nd_order_vars(&ballboard.forktrans.qr, 20, 20); /* set accel */ + + /* CS */ + cs_init(&ballboard.forktrans.cs); + cs_set_consign_filter(&ballboard.forktrans.cs, quadramp_do_filter, &ballboard.forktrans.qr); + cs_set_correct_filter(&ballboard.forktrans.cs, pid_do_filter, &ballboard.forktrans.pid); + cs_set_process_in(&ballboard.forktrans.cs, pwm_ng_set, FORKTRANS_PWM); + cs_set_process_out(&ballboard.forktrans.cs, encoders_spi_get_value, FORKTRANS_ENCODER); + cs_set_consign(&ballboard.forktrans.cs, 0); + + /* Blocking detection */ + bd_init(&ballboard.forktrans.bd); + bd_set_speed_threshold(&ballboard.forktrans.bd, 150); + bd_set_current_thresholds(&ballboard.forktrans.bd, 500, 8000, 1000000, 40); + + /* ---- CS forkrot */ + /* PID */ + pid_init(&ballboard.forkrot.pid); + pid_set_gains(&ballboard.forkrot.pid, 200, 5, 250); + pid_set_maximums(&ballboard.forkrot.pid, 0, 10000, 2047); + pid_set_out_shift(&ballboard.forkrot.pid, 6); + pid_set_derivate_filter(&ballboard.forkrot.pid, 6); + + /* QUADRAMP */ + quadramp_init(&ballboard.forkrot.qr); + quadramp_set_1st_order_vars(&ballboard.forkrot.qr, 200, 200); /* set speed */ + quadramp_set_2nd_order_vars(&ballboard.forkrot.qr, 20, 20); /* set accel */ + + /* CS */ + cs_init(&ballboard.forkrot.cs); + cs_set_consign_filter(&ballboard.forkrot.cs, quadramp_do_filter, &ballboard.forkrot.qr); + cs_set_correct_filter(&ballboard.forkrot.cs, pid_do_filter, &ballboard.forkrot.pid); + cs_set_process_in(&ballboard.forkrot.cs, pwm_ng_set, FORKROT_PWM); + cs_set_process_out(&ballboard.forkrot.cs, encoders_spi_get_value, FORKROT_ENCODER); + cs_set_consign(&ballboard.forkrot.cs, 0); + + /* Blocking detection */ + bd_init(&ballboard.forkrot.bd); + bd_set_speed_threshold(&ballboard.forkrot.bd, 150); + bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 40); + + /* set them on !! */ + ballboard.roller.on = 0; + ballboard.forktrans.on = 1; + ballboard.forkrot.on = 1; + + + scheduler_add_periodical_event_priority(do_cs, NULL, + 5000L / SCHEDULER_UNIT, + CS_PRIO); +}