X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;fp=projects%2Fmicrob2010%2Fcobboard%2Fcs.c;h=4d8ccb015f41eb36e69afad300cc595e68c1aa1f;hp=0000000000000000000000000000000000000000;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b diff --git a/projects/microb2010/cobboard/cs.c b/projects/microb2010/cobboard/cs.c new file mode 100644 index 0000000..4d8ccb0 --- /dev/null +++ b/projects/microb2010/cobboard/cs.c @@ -0,0 +1,192 @@ +/* + * 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 2009-04-24 19:30:42 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" + +/* called every 5 ms */ +static void do_cs(__attribute__((unused)) void *dummy) +{ + /* read encoders */ + if (cobboard.flags & DO_ENCODERS) { + encoders_spi_manage(NULL); + } + /* control system */ + if (cobboard.flags & DO_CS) { + if (cobboard.left_spickle.on) + cs_manage(&cobboard.left_spickle.cs); + if (cobboard.right_spickle.on) + cs_manage(&cobboard.right_spickle.cs); + if (cobboard.shovel.on) + cs_manage(&cobboard.shovel.cs); + } + if (cobboard.flags & DO_BD) { + bd_manage_from_cs(&cobboard.left_spickle.bd, &cobboard.left_spickle.cs); + bd_manage_from_cs(&cobboard.right_spickle.bd, &cobboard.right_spickle.cs); + bd_manage_from_cs(&cobboard.shovel.bd, &cobboard.shovel.cs); + } + if (cobboard.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_spickle */ + /* PID */ + pid_init(&cobboard.left_spickle.pid); + pid_set_gains(&cobboard.left_spickle.pid, 500, 40, 5000); + pid_set_maximums(&cobboard.left_spickle.pid, 0, 5000, 2400); /* max is 12 V */ + pid_set_out_shift(&cobboard.left_spickle.pid, 10); + pid_set_derivate_filter(&cobboard.left_spickle.pid, 4); + + /* QUADRAMP */ + quadramp_init(&cobboard.left_spickle.qr); + quadramp_set_1st_order_vars(&cobboard.left_spickle.qr, 2000, 2000); /* set speed */ + quadramp_set_2nd_order_vars(&cobboard.left_spickle.qr, 20, 20); /* set accel */ + + /* CS */ + cs_init(&cobboard.left_spickle.cs); + cs_set_consign_filter(&cobboard.left_spickle.cs, quadramp_do_filter, &cobboard.left_spickle.qr); + cs_set_correct_filter(&cobboard.left_spickle.cs, pid_do_filter, &cobboard.left_spickle.pid); + cs_set_process_in(&cobboard.left_spickle.cs, pwm_ng_set, LEFT_SPICKLE_PWM); + cs_set_process_out(&cobboard.left_spickle.cs, encoders_spi_get_value, LEFT_SPICKLE_ENCODER); + cs_set_consign(&cobboard.left_spickle.cs, 0); + + /* Blocking detection */ + bd_init(&cobboard.left_spickle.bd); + bd_set_speed_threshold(&cobboard.left_spickle.bd, 150); + bd_set_current_thresholds(&cobboard.left_spickle.bd, 500, 8000, 1000000, 40); + + /* ---- CS right_spickle */ + /* PID */ + pid_init(&cobboard.right_spickle.pid); + pid_set_gains(&cobboard.right_spickle.pid, 500, 40, 5000); + pid_set_maximums(&cobboard.right_spickle.pid, 0, 5000, 2400); /* max is 12 V */ + pid_set_out_shift(&cobboard.right_spickle.pid, 10); + pid_set_derivate_filter(&cobboard.right_spickle.pid, 6); + + /* QUADRAMP */ + quadramp_init(&cobboard.right_spickle.qr); + quadramp_set_1st_order_vars(&cobboard.right_spickle.qr, 1000, 1000); /* set speed */ + quadramp_set_2nd_order_vars(&cobboard.right_spickle.qr, 20, 20); /* set accel */ + + /* CS */ + cs_init(&cobboard.right_spickle.cs); + cs_set_consign_filter(&cobboard.right_spickle.cs, quadramp_do_filter, &cobboard.right_spickle.qr); + cs_set_correct_filter(&cobboard.right_spickle.cs, pid_do_filter, &cobboard.right_spickle.pid); + cs_set_process_in(&cobboard.right_spickle.cs, pwm_ng_set, RIGHT_SPICKLE_PWM); + cs_set_process_out(&cobboard.right_spickle.cs, encoders_spi_get_value, RIGHT_SPICKLE_ENCODER); + cs_set_consign(&cobboard.right_spickle.cs, 0); + + /* Blocking detection */ + bd_init(&cobboard.right_spickle.bd); + bd_set_speed_threshold(&cobboard.right_spickle.bd, 150); + bd_set_current_thresholds(&cobboard.right_spickle.bd, 500, 8000, 1000000, 40); + + /* ---- CS shovel */ + /* PID */ + pid_init(&cobboard.shovel.pid); + pid_set_gains(&cobboard.shovel.pid, 500, 40, 5000); + pid_set_maximums(&cobboard.shovel.pid, 0, 5000, 2400); /* max is 12 V */ + pid_set_out_shift(&cobboard.shovel.pid, 10); + pid_set_derivate_filter(&cobboard.shovel.pid, 6); + + /* QUADRAMP */ + quadramp_init(&cobboard.shovel.qr); + quadramp_set_1st_order_vars(&cobboard.shovel.qr, 1000, 1000); /* set speed */ + quadramp_set_2nd_order_vars(&cobboard.shovel.qr, 20, 20); /* set accel */ + + /* CS */ + cs_init(&cobboard.shovel.cs); + cs_set_consign_filter(&cobboard.shovel.cs, quadramp_do_filter, &cobboard.shovel.qr); + cs_set_correct_filter(&cobboard.shovel.cs, pid_do_filter, &cobboard.shovel.pid); + cs_set_process_in(&cobboard.shovel.cs, pwm_ng_set, SHOVEL_PWM); + cs_set_process_out(&cobboard.shovel.cs, encoders_spi_get_value, SHOVEL_ENCODER); + cs_set_consign(&cobboard.shovel.cs, 0); + + /* Blocking detection */ + bd_init(&cobboard.shovel.bd); + bd_set_speed_threshold(&cobboard.shovel.bd, 150); + bd_set_current_thresholds(&cobboard.shovel.bd, 500, 8000, 1000000, 40); + + /* set them on !! */ + cobboard.left_spickle.on = 1; + cobboard.right_spickle.on = 1; + cobboard.shovel.on = 1; + + scheduler_add_periodical_event_priority(do_cs, NULL, + CS_PERIOD / SCHEDULER_UNIT, + CS_PRIO); +}