X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;fp=projects%2Fmicrob2010%2Fmainboard%2Fcs.c;h=ec70f9a2ecebf748b7c6fdb8e6f594ac7f8b1fb5;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568 diff --git a/projects/microb2010/mainboard/cs.c b/projects/microb2010/mainboard/cs.c new file mode 100644 index 0000000..ec70f9a --- /dev/null +++ b/projects/microb2010/mainboard/cs.c @@ -0,0 +1,239 @@ +/* + * 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 1.9 2009-11-08 17:24:33 zer0 Exp $ + * + */ + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "main.h" +#include "strat.h" +#include "actuator.h" + +/* called every 5 ms */ +static void do_cs(void *dummy) +{ + static uint16_t cpt = 0; + static int32_t old_a = 0, old_d = 0; + + /* read encoders */ + if (mainboard.flags & DO_ENCODERS) { + encoders_spi_manage(NULL); + } + + /* XXX there is an issue which is probably related to avr-libc + * 1.6.2 (debian): this code using fixed_point lib does not + * work with it */ + /* robot system, conversion to angle,distance */ + if (mainboard.flags & DO_RS) { + int16_t a,d; + rs_update(&mainboard.rs); /* takes about 0.5 ms */ + /* process and store current speed */ + a = rs_get_angle(&mainboard.rs); + d = rs_get_distance(&mainboard.rs); + mainboard.speed_a = a - old_a; + mainboard.speed_d = d - old_d; + old_a = a; + old_d = d; + } + + /* control system */ + if (mainboard.flags & DO_CS) { + if (mainboard.angle.on) + cs_manage(&mainboard.angle.cs); + if (mainboard.distance.on) + cs_manage(&mainboard.distance.cs); + } + if ((cpt & 1) && (mainboard.flags & DO_POS)) { + /* about 1.5ms (worst case without centrifugal force + * compensation) */ + position_manage(&mainboard.pos); + } + if (mainboard.flags & DO_BD) { + bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs); + bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs); + } + if (mainboard.flags & DO_TIMER) { + uint8_t second; + /* the robot should stop correctly in the strat, but + * in some cases, we must force the stop from an + * interrupt */ + second = time_get_s(); + if (second >= MATCH_TIME + 2) { + pwm_ng_set(LEFT_PWM, 0); + pwm_ng_set(RIGHT_PWM, 0); + printf_P(PSTR("END OF TIME\r\n")); + while(1); + } + } + /* brakes */ + if (mainboard.flags & DO_POWER) + BRAKE_OFF(); + else + BRAKE_ON(); + cpt++; +} + +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) +{ + /* ROBOT_SYSTEM */ + rs_init(&mainboard.rs); + rs_set_left_pwm(&mainboard.rs, pwm_set_and_save, LEFT_PWM); + rs_set_right_pwm(&mainboard.rs, pwm_set_and_save, RIGHT_PWM); + /* increase gain to decrease dist, increase left and it will turn more left */ + rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value, + LEFT_ENCODER, IMP_COEF * 1.0015); + rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, + RIGHT_ENCODER, IMP_COEF * -1.006); + /* rs will use external encoders */ + rs_set_flags(&mainboard.rs, RS_USE_EXT); + + /* POSITION MANAGER */ + position_init(&mainboard.pos); + position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM); + position_set_related_robot_system(&mainboard.pos, &mainboard.rs); + position_set_centrifugal_coef(&mainboard.pos, 0.000016); + position_use_ext(&mainboard.pos); + + /* TRAJECTORY MANAGER */ + trajectory_init(&mainboard.traj); + trajectory_set_cs(&mainboard.traj, &mainboard.distance.cs, + &mainboard.angle.cs); + trajectory_set_robot_params(&mainboard.traj, &mainboard.rs, &mainboard.pos); + trajectory_set_speed(&mainboard.traj, SPEED_DIST_FAST, SPEED_ANGLE_FAST); /* d, a */ + /* distance window, angle window, angle start */ + trajectory_set_windows(&mainboard.traj, 200., 5.0, 30.); + + /* ---- CS angle */ + /* PID */ + pid_init(&mainboard.angle.pid); + pid_set_gains(&mainboard.angle.pid, 500, 10, 7000); + pid_set_maximums(&mainboard.angle.pid, 0, 20000, 4095); + pid_set_out_shift(&mainboard.angle.pid, 10); + pid_set_derivate_filter(&mainboard.angle.pid, 4); + + /* QUADRAMP */ + quadramp_init(&mainboard.angle.qr); + quadramp_set_1st_order_vars(&mainboard.angle.qr, 2000, 2000); /* set speed */ + quadramp_set_2nd_order_vars(&mainboard.angle.qr, 13, 13); /* set accel */ + + /* CS */ + cs_init(&mainboard.angle.cs); + cs_set_consign_filter(&mainboard.angle.cs, quadramp_do_filter, &mainboard.angle.qr); + cs_set_correct_filter(&mainboard.angle.cs, pid_do_filter, &mainboard.angle.pid); + cs_set_process_in(&mainboard.angle.cs, rs_set_angle, &mainboard.rs); + cs_set_process_out(&mainboard.angle.cs, rs_get_angle, &mainboard.rs); + cs_set_consign(&mainboard.angle.cs, 0); + + /* Blocking detection */ + bd_init(&mainboard.angle.bd); + bd_set_speed_threshold(&mainboard.angle.bd, 80); + bd_set_current_thresholds(&mainboard.angle.bd, 500, 8000, 1000000, 50); + + /* ---- CS distance */ + /* PID */ + pid_init(&mainboard.distance.pid); + pid_set_gains(&mainboard.distance.pid, 500, 10, 7000); + pid_set_maximums(&mainboard.distance.pid, 0, 2000, 4095); + pid_set_out_shift(&mainboard.distance.pid, 10); + pid_set_derivate_filter(&mainboard.distance.pid, 6); + + /* QUADRAMP */ + quadramp_init(&mainboard.distance.qr); + quadramp_set_1st_order_vars(&mainboard.distance.qr, 2000, 2000); /* set speed */ + quadramp_set_2nd_order_vars(&mainboard.distance.qr, 17, 17); /* set accel */ + + /* CS */ + cs_init(&mainboard.distance.cs); + cs_set_consign_filter(&mainboard.distance.cs, quadramp_do_filter, &mainboard.distance.qr); + cs_set_correct_filter(&mainboard.distance.cs, pid_do_filter, &mainboard.distance.pid); + cs_set_process_in(&mainboard.distance.cs, rs_set_distance, &mainboard.rs); + cs_set_process_out(&mainboard.distance.cs, rs_get_distance, &mainboard.rs); + cs_set_consign(&mainboard.distance.cs, 0); + + /* Blocking detection */ + bd_init(&mainboard.distance.bd); + bd_set_speed_threshold(&mainboard.distance.bd, 60); + bd_set_current_thresholds(&mainboard.distance.bd, 500, 8000, 1000000, 50); + + /* set them on !! */ + mainboard.angle.on = 1; + mainboard.distance.on = 1; + + + scheduler_add_periodical_event_priority(do_cs, NULL, + 5000L / SCHEDULER_UNIT, + CS_PRIO); +}