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SailMotor.cpp
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SailMotor.cpp
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/************************************************************************/
/* */
/* P R O J E K T A V A L O N */
/* */
/* SailMotor.cpp Class Fuctions for the Sail Motor Class */
/* */
/* Author Stefan Wismer */
/* wismerst@student.ethz.ch */
/* */
/************************************************************************/
#include <math.h>
#include "can/can.h"
#include "epos/epos.h"
#include <rtx/getopt.h>
#include <rtx/main.h>
#include <rtx/error.h>
#include <rtx/timer.h>
#include <rtx/thread.h>
#include <rtx/message.h>
#include "avalon.h"
#include "SailMotor.h"
/**
* Class functions
* */
SailMotor::SailMotor() {}
SailMotor::~SailMotor()
{
rtx_message("SailMotor-Destructor has been called ... ");
emergency_stop();
}
// Just clearing the errors and setting the operation Mode
bool SailMotor::init(const char * device) {
can_init(device);
epos_fault_reset(AV_SAIL_NODE_ID);
epos_set_output_current_limit(AV_SAIL_NODE_ID, AV_MAX_SAIL_CURRENT);
epos_set_continous_current_limit(AV_SAIL_NODE_ID, AV_MAX_SAIL_CONT_CURRENT);
epos_shutdown(AV_SAIL_NODE_ID);
epos_enable_operation(AV_SAIL_NODE_ID);
epos_set_mode_of_operation(AV_SAIL_NODE_ID, EPOS_OPERATION_MODE_PROFILE_POSITION);
epos_shutdown(AV_SAIL_NODE_ID);
epos_enable_operation(AV_SAIL_NODE_ID);
epos_set_profile_acceleration(AV_SAIL_NODE_ID, AV_SAIL_ACCELERATION);
epos_set_profile_deceleration(AV_SAIL_NODE_ID, AV_SAIL_DECELERATION);
epos_set_profile_velocity(AV_SAIL_NODE_ID, AV_SAIL_SPEED);
epos_set_maximum_following_error(AV_SAIL_NODE_ID, AV_SAIL_MAX_FOLLOWING_ERROR);
epos_set_brake_mask(AV_SAIL_NODE_ID, AV_SAIL_BRAKE_MASK);
epos_set_brake_polarity(AV_SAIL_NODE_ID, AV_SAIL_BRAKE_POLARITY);
printf("\n\nThe Sail motor at %s (CAN-ID %d) has the following status:\n", device, AV_SAIL_NODE_ID);
epos_get_error(AV_SAIL_NODE_ID);
epos_set_brake_state(AV_SAIL_NODE_ID, AV_SAIL_BRAKE_OPEN);
return true;
}
bool SailMotor::calibrate(int id)
{
// Set Operation Mode
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_HOMING);
epos_set_homing_method(id, 0x0000); // TODO: THIS HAS TO BE DEFINED AT SOME POINT
// Set to Zero
epos_start_homing_operation(id);
// Reset Operation Mode
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_PROFILE_POSITION);
epos_shutdown(id);
epos_enable_operation(id);
return true;
}
bool SailMotor::move_to_angle(float degrees, float reference, int& feedback, int& num_rounds) {
float position;
int target = 0;
if(degrees <= 180 && degrees >= -180) {
// get feedback
epos_get_actual_position(AV_SAIL_NODE_ID);
feedback = epos_read.node[AV_SAIL_NODE_ID-1].actual_position;
position = (feedback / (AV_SAIL_TICKS_PER_DEGREE))-reference;
// num_rounds = (feedback + 180 * AV_SAIL_TICKS_PER_DEGREE) / (360 * AV_SAIL_TICKS_PER_DEGREE);
// num_rounds = (int)round((position+180.0*sign(position))/360.0);
num_rounds = (int)round((position)/360.0);
//rtx_message("num_ro: %d, feedback: %d", num_rounds, feedback);
//num_rounds = (position+180.0)/360.0;
position = remainder(position, 360.0);
if(fabs(degrees - position) > 180.0)
{
num_rounds -= 1*sign(remainder((position - degrees),360.0));
}
//rtx_message("pos: %f, num_ro: %d", position, num_rounds);
// Go to position
target = (int)round(AV_SAIL_TICKS_PER_DEGREE * (degrees + reference + num_rounds*360));
epos_set_target_position(AV_SAIL_NODE_ID, target);
// rtx_message("num_ro: %d, position: %f, target: %f", num_rounds, position, target/AV_SAIL_TICKS_PER_DEGREE*1.0);
//rtx_message("current: %f; %d, goal: %f; %d", position, feedback, degrees, target);
epos_activate_position(AV_SAIL_NODE_ID);
}
else {
rtx_message("WARNING: A Sail angle beyond +-180 deg has been asked for. (at %f) Skipping...", degrees);
return false;
}
#if 0
if(degrees <= AV_MAX_SAIL_ANGLE && degrees >= -AV_MAX_SAIL_ANGLE) {
// Go to position
epos_set_target_position(AV_SAIL_NODE_ID,(int)round((degrees+reference)*AV_SAIL_TICKS_PER_DEGREE));
epos_activate_position(AV_SAIL_NODE_ID);
// and get feedback
epos_get_actual_position(AV_SAIL_NODE_ID);
feedback = epos_read.node[AV_SAIL_NODE_ID-1].actual_position;
}
else {
rtx_message("WARNING: A Sail angle beyond the max sail angle has been asked for. (at %f) Skipping...", degrees);
return false;
}
#endif
return true;
}
bool SailMotor::emergency_stop() {
epos_quick_stop(AV_SAIL_NODE_ID);
return true;
}
// Some self-defined utility functions:
int SailMotor::sign(int i) // gives back the sign of an int
{
if (i>=0)
return 1;
else
return -1;
}
int SailMotor::sign(float i) // gives back the sign of a float
{
if (i>=0)
return 1;
else
return -1;
}
int SailMotor::sign(double i) // gives back the sign of a double
{
if (i>=0)
return 1;
else
return -1;
}