static void pid_register(struct pid_parameter_s *pid,
parameter_namespace_t *parent,
const char *name)
{
parameter_namespace_declare(&pid->root, parent, name);
parameter_scalar_declare_with_default(&pid->kp, &pid->root, "kp", 0);
parameter_scalar_declare_with_default(&pid->ki, &pid->root, "ki", 0);
parameter_scalar_declare_with_default(&pid->kd, &pid->root, "kd", 0);
parameter_scalar_declare_with_default(&pid->ilimit, &pid->root, "ilimit", 0);
}
void motor_driver_init(motor_driver_t *d,
const char *actuator_id,
parameter_namespace_t *ns,
memory_pool_t *traj_buffer_pool,
memory_pool_t *traj_buffer_points_pool,
int traj_buffer_nb_points)
{
chBSemObjectInit(&d->lock, false);
d->traj_buffer_pool = traj_buffer_pool;
d->traj_buffer_points_pool = traj_buffer_points_pool;
d->traj_buffer_nb_points = traj_buffer_nb_points;
strncpy(d->id, actuator_id, MOTOR_ID_MAX_LEN);
d->id[MOTOR_ID_MAX_LEN] = '\0';
d->can_id = CAN_ID_NOT_SET;
d->control_mode = MOTOR_CONTROL_MODE_DISABLED;
d->update_period = 1;
d->can_driver = NULL;
parameter_namespace_declare(&d->config.root, ns, d->id);
parameter_namespace_declare(&d->config.control, &d->config.root, "control");
pid_register(&d->config.position_pid, &d->config.control, "position");
pid_register(&d->config.velocity_pid, &d->config.control, "velocity");
pid_register(&d->config.current_pid, &d->config.control, "current");
parameter_scalar_declare_with_default(&d->config.torque_limit, &d->config.control, "torque_limit", 0);
parameter_scalar_declare_with_default(&d->config.velocity_limit, &d->config.control, "velocity_limit", 0);
parameter_scalar_declare_with_default(&d->config.acceleration_limit, &d->config.control, "acceleration_limit", 0);
parameter_scalar_declare_with_default(&d->config.low_batt_th, &d->config.control, "low_batt_th", 12);
parameter_namespace_declare(&d->config.thermal, &d->config.root, "thermal");
parameter_scalar_declare(&d->config.thermal_capacity, &d->config.thermal, "capacity");
parameter_scalar_declare(&d->config.thermal_resistance, &d->config.thermal, "resistance");
parameter_scalar_declare(&d->config.thermal_current_gain, &d->config.thermal, "current_gain");
parameter_scalar_declare(&d->config.max_temperature, &d->config.thermal, "max_temperature");
parameter_namespace_declare(&d->config.motor, &d->config.root, "motor");
parameter_scalar_declare_with_default(&d->config.torque_constant, &d->config.motor, "torque_constant", 1);
parameter_integer_declare_with_default(&d->config.transmission_ratio_p, &d->config.motor, "transmission_ratio_p", 1);
parameter_integer_declare_with_default(&d->config.transmission_ratio_q, &d->config.motor, "transmission_ratio_q", 1);
parameter_integer_declare_with_default(&d->config.motor_encoder_steps_per_revolution, &d->config.motor, "motor_encoder_steps_per_revolution", 4096);
parameter_integer_declare_with_default(&d->config.second_encoder_steps_per_revolution, &d->config.motor, "second_encoder_steps_per_revolution", 4096);
parameter_scalar_declare_with_default(&d->config.potentiometer_gain, &d->config.motor, "potentiometer_gain", 1);
parameter_integer_declare_with_default(&d->config.mode, &d->config.motor, "mode", 4); // todo
parameter_namespace_declare(&d->config.stream, &d->config.root, "stream");
parameter_scalar_declare(&d->config.current_pid_stream, &d->config.stream, "current_pid");
parameter_scalar_declare(&d->config.velocity_pid_stream, &d->config.stream, "velocity_pid");
parameter_scalar_declare(&d->config.position_pid_stream, &d->config.stream, "position_pid");
parameter_scalar_declare(&d->config.index_stream, &d->config.stream, "index");
parameter_scalar_declare(&d->config.encoder_pos_stream, &d->config.stream, "encoder_pos");
parameter_scalar_declare(&d->config.motor_pos_stream, &d->config.stream, "motor_pos");
parameter_scalar_declare(&d->config.motor_torque_stream, &d->config.stream, "motor_torque");
d->stream.change_status = 0;
}
void config_init(void)
{
parameter_namespace_declare(&global_config, NULL, NULL);
parameter_namespace_declare(&actuator_config, &global_config, "actuator");
parameter_namespace_declare(&master_config, &global_config, "master");
parameter_namespace_declare(&odometry_config, &master_config, "odometry");
parameter_scalar_declare_with_default(&odometry_wheel_base,
&odometry_config,
"wheelbase",
ROBOT_EXTERNAL_WHEELBASE);
parameter_scalar_declare_with_default(&odometry_right_radius,
&odometry_config,
"radius_right",
ROBOT_RIGHT_EXTERNAL_WHEEL_RADIUS);
parameter_scalar_declare_with_default(&odometry_left_radius,
&odometry_config,
"radius_left",
ROBOT_LEFT_EXTERNAL_WHEEL_RADIUS);
parameter_namespace_declare(&differential_base_config, &master_config, "differential_base");
parameter_scalar_declare_with_default(&differential_base_wheel_base,
&differential_base_config,
"wheelbase",
ROBOT_EXTERNAL_WHEELBASE);
parameter_scalar_declare_with_default(&differential_base_right_radius,
&differential_base_config,
"radius_right",
ROBOT_RIGHT_MOTOR_WHEEL_RADIUS);
parameter_scalar_declare_with_default(&differential_base_left_radius,
&differential_base_config,
"radius_left",
ROBOT_LEFT_MOTOR_WHEEL_RADIUS);
parameter_namespace_declare(&tracy_config, &master_config, "tracy");
parameter_scalar_declare_with_default(&tracy_g, &tracy_config, "g",
DEFAULT_PARAM_G);
parameter_scalar_declare_with_default(&tracy_damping_coef, &tracy_config, "damping",
DEFAULT_PARAM_DAMPING_COEFF);
parameter_scalar_declare(&foo, &master_config, "foo");
}
void rate_limiter_init(rate_limiter_t *rl, const char *name, parameter_namespace_t *ns)
{
parameter_scalar_declare_with_default(&rl->rate, ns, name, 0);
rl->last_update = 0;
}
