X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmechboard%2Factuator.c;fp=projects%2Fmicrob2010%2Fmechboard%2Factuator.c;h=a36a70c322e53a1d4dff536c0a1c19bf376b96bd;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/mechboard/actuator.c b/projects/microb2010/mechboard/actuator.c
new file mode 100644
index 0000000..a36a70c
--- /dev/null
+++ b/projects/microb2010/mechboard/actuator.c
@@ -0,0 +1,163 @@
+/*  
+ *  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 1.4 2009-04-24 19:30:41 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <encoders_spi.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 <blocking_detection_manager.h>
+
+#include <rdline.h>
+
+#include "../common/i2c_commands.h"
+#include "actuator.h"
+#include "ax12_user.h"
+#include "main.h"
+
+#define FINGER_DEBUG(args...) DEBUG(E_USER_FINGER, args)
+#define FINGER_NOTICE(args...) NOTICE(E_USER_FINGER, args)
+#define FINGER_ERROR(args...) ERROR(E_USER_FINGER, args)
+
+struct finger {
+	int8_t event;
+	uint16_t destination;
+};
+
+struct finger finger;
+
+static void finger_goto_cb(void *);
+
+/* schedule a single event for the finger */
+static void finger_schedule_event(struct finger *finger)
+{
+	uint8_t flags;
+	int8_t ret;
+
+	IRQ_LOCK(flags);
+	ret = scheduler_add_event(SCHEDULER_SINGLE,
+				  (void *)finger_goto_cb,
+				  finger, 1, ARM_PRIO);
+	if (ret == -1) {
+		IRQ_UNLOCK(flags);
+		FINGER_ERROR("Cannot load finger event");
+		return;
+	}
+	finger->event = ret;
+	IRQ_UNLOCK(flags);
+}
+
+static void finger_goto_cb(void *data)
+{
+	uint8_t flags;
+	struct finger *finger = data;
+	uint16_t position;
+
+	IRQ_LOCK(flags);
+	finger->event = -1;
+	position = finger->destination;
+	IRQ_UNLOCK(flags);
+	FINGER_DEBUG("goto_cb %d", position);
+	ax12_user_write_int(&gen.ax12, FINGER_AX12,
+			    AA_GOAL_POSITION_L, position);
+}
+
+/* load an event that will move the ax12 for us */
+void finger_goto(uint16_t position)
+{
+	uint8_t flags;
+	FINGER_NOTICE("goto %d", position);
+
+	IRQ_LOCK(flags);
+	finger.destination = position;
+	if (finger.event != -1) {
+		IRQ_UNLOCK(flags);
+		return; /* nothing to do, event already scheduled */
+	}
+	IRQ_UNLOCK(flags);
+	finger_schedule_event(&finger);
+}
+
+static void finger_init(void)
+{
+	finger.event = -1;
+	finger.destination = 0;
+	/* XXX set pos ? */
+}
+
+uint16_t finger_get_goal_pos(void)
+{
+	return finger.destination;
+}
+
+uint8_t finger_get_side(void)
+{
+	if (finger.destination <= FINGER_CENTER)
+		return I2C_LEFT_SIDE;
+	return I2C_RIGHT_SIDE;
+}
+
+/**********/
+
+#define SERVO_LEFT_OUT  400
+#define SERVO_LEFT_1LIN 520
+#define SERVO_LEFT_2LIN 485
+#define SERVO_RIGHT_OUT  290
+#define SERVO_RIGHT_1LIN 155
+#define SERVO_RIGHT_2LIN 180
+
+void servo_lintel_out(void)
+{
+	mechboard.servo_lintel_left = SERVO_LEFT_OUT;
+	mechboard.servo_lintel_right = SERVO_RIGHT_OUT;
+}
+
+void servo_lintel_1lin(void)
+{
+	mechboard.servo_lintel_left = SERVO_LEFT_1LIN;
+	mechboard.servo_lintel_right = SERVO_RIGHT_1LIN;
+}
+
+void servo_lintel_2lin(void)
+{
+	mechboard.servo_lintel_left = SERVO_LEFT_2LIN;
+	mechboard.servo_lintel_right = SERVO_RIGHT_2LIN;
+}
+
+/**********/
+
+void actuator_init(void)
+{
+	finger_init();
+	servo_lintel_out();
+}