X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fsensorboard%2Fcs.c;fp=projects%2Fmicrob2010%2Fsensorboard%2Fcs.c;h=0000000000000000000000000000000000000000;hp=010b49eb8475cbd53dccfadfa821d1a5216c8525;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/sensorboard/cs.c b/projects/microb2010/sensorboard/cs.c
deleted file mode 100644
index 010b49e..0000000
--- a/projects/microb2010/sensorboard/cs.c
+++ /dev/null
@@ -1,145 +0,0 @@
-/*  
- *  Copyright Droids Corporation
- *  Olivier Matz <zer0@droids-corp.org>
- * 
- *  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 <stdio.h>
-#include <string.h>
-
-#include <aversive.h>
-#include <aversive/error.h>
-
-#include <ax12.h>
-#include <spi.h>
-#include <encoders_spi.h>
-#include <pwm_ng.h>
-#include <timer.h>
-#include <scheduler.h>
-#include <time.h>
-#include <adc.h>
-
-#include <pid.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <blocking_detection_manager.h>
-
-#include <parse.h>
-#include <rdline.h>
-
-#include "main.h"
-#include "beacon.h"
-#include "scanner.h"
-#include "actuator.h"
-
-/* called every 5 ms */
-static void do_cs(void *dummy) 
-{
-	/* read encoders */
-	if (sensorboard.flags & DO_ENCODERS) {
-		encoders_spi_manage(NULL);
-	}
-	/* control system */
-	if (sensorboard.flags & DO_CS) {
-		if (sensorboard.beacon.on)
-			cs_manage(&sensorboard.beacon.cs);
-		if (sensorboard.scanner.on)
-			cs_manage(&sensorboard.scanner.cs);
-	}
-	if (sensorboard.flags & DO_BD) {
-		bd_manage_from_cs(&sensorboard.beacon.bd, &sensorboard.beacon.cs);
-		bd_manage_from_cs(&sensorboard.scanner.bd, &sensorboard.scanner.cs);
-	}
-	if (sensorboard.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 beacon */
-	/* PID */
-	pid_init(&sensorboard.beacon.pid);
-	pid_set_gains(&sensorboard.beacon.pid, 80, 80, 250);
-	pid_set_maximums(&sensorboard.beacon.pid, 0, 10000, 2000);
-	pid_set_out_shift(&sensorboard.beacon.pid, 6);
-	pid_set_derivate_filter(&sensorboard.beacon.pid, 6);
-
-	/* CS */
-	cs_init(&sensorboard.beacon.cs);
-	cs_set_correct_filter(&sensorboard.beacon.cs, pid_do_filter, &sensorboard.beacon.pid);
-	cs_set_process_in(&sensorboard.beacon.cs, pwm_ng_set, BEACON_PWM);
-	cs_set_process_out(&sensorboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
-	cs_set_consign(&sensorboard.beacon.cs, 0);
-
-	/* ---- CS scanner */
-	/* PID */
-	pid_init(&sensorboard.scanner.pid);
-	pid_set_gains(&sensorboard.scanner.pid, 200, 5, 250);
-	pid_set_maximums(&sensorboard.scanner.pid, 0, 10000, 2047);
-	pid_set_out_shift(&sensorboard.scanner.pid, 6);
-	pid_set_derivate_filter(&sensorboard.scanner.pid, 6);
-
-	/* QUADRAMP */
-	quadramp_init(&sensorboard.scanner.qr);
-	quadramp_set_1st_order_vars(&sensorboard.scanner.qr, 200, 200); /* set speed */
-	quadramp_set_2nd_order_vars(&sensorboard.scanner.qr, 20, 20); /* set accel */
-
-	/* CS */
-	cs_init(&sensorboard.scanner.cs);
-	cs_set_consign_filter(&sensorboard.scanner.cs, quadramp_do_filter, &sensorboard.scanner.qr);
-	cs_set_correct_filter(&sensorboard.scanner.cs, pid_do_filter, &sensorboard.scanner.pid);
-	cs_set_process_in(&sensorboard.scanner.cs, pwm_ng_set, SCANNER_PWM);
-	cs_set_process_out(&sensorboard.scanner.cs, encoders_spi_update_scanner, SCANNER_ENCODER);
-	cs_set_consign(&sensorboard.scanner.cs, 0);
-
-	/* Blocking detection */
-	bd_init(&sensorboard.scanner.bd);
-	bd_set_speed_threshold(&sensorboard.scanner.bd, 150);
-	bd_set_current_thresholds(&sensorboard.scanner.bd, 500, 8000, 1000000, 40);
-
-	/* set them on !! */
-	sensorboard.beacon.on = 0;
-	sensorboard.scanner.on = 1;
-
-
-	scheduler_add_periodical_event_priority(do_cs, NULL, 
-						5000L / SCHEDULER_UNIT, 
-						CS_PRIO);
-}