/* for elevator auto mode */
static void elevator_cb(void *dummy)
{
static uint8_t prev = 0;
uint8_t val;
val = !sensor_get(0);
switch (elevator_state) {
case OFF:
break;
case WAIT_SENSOR:
if (val && !prev) {
delay = elevator_delay_up;
elevator_state = SENSOR_OK;
}
break;
case SENSOR_OK:
if (delay-- == 0) {
cs_set_consign(&mainboard.elevator.cs, elevator_pos_up);
elevator_state = WAIT_DOWN;
delay = elevator_delay_down;
}
break;
case WAIT_DOWN:
if (delay-- == 0) {
cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
elevator_state = WAIT_SENSOR;
}
break;
default:
break;
}
prev = val;
}
void robot_cs_set_xy_consigns( robot_cs_t* rcs,
int32_t x,
int32_t y)
{
uint8_t flags;
IRQ_LOCK(flags);
cs_set_consign(&csm_x,x);
cs_set_consign(&csm_y,y);
IRQ_UNLOCK(flags);
}
void motor_cs_update(void* dummy, int32_t m1, int32_t m2, int32_t m3)
{
uint8_t flags;
// set consigns for motors CS
cs_set_consign(&csm_motor1, m1);
cs_set_consign(&csm_motor2, m2);
cs_set_consign(&csm_motor3, m3);
// update motors CS
cs_manage(&csm_motor1);
cs_manage(&csm_motor2);
cs_manage(&csm_motor3);
return;
}
void robot_cs_set_a_consign( robot_cs_t* rcs,
int32_t angle)
{
uint8_t flags;
IRQ_LOCK(flags);
cs_set_consign(&csm_angle,angle);
IRQ_UNLOCK(flags);
}
void rsh_update(struct robot_system_holonomic *rs) {
if(rs->pos == NULL)
return;
/** @todo add real physical parameters. */
double theta_r = holonomic_position_get_a_rad_double(rs->pos);
int i;
for(i = 0; i < 3; i++) {
/** omega = omega_r + omega_t = speed of the wheel i */
/** < the part for translation */
const double omega_t = - rs->speed / rs->pos->geometry.wheel_radius[i] *
cos(theta_r - rs->direction + rs->pos->geometry.beta[i] - M_PI_2);
/** < the part for rotation */
const double omega_r = - rs->rotation_speed * rs->pos->geometry.wheel_distance[i] / rs->pos->geometry.wheel_radius[i];
/** @bug @todo le facteur 10 : on ne le met pas et on a des vitesse 10 x trop haute */
cs_set_consign(rs->motors[i],((omega_t + omega_r) / M_2_PI * (double)rs->pos->geometry.encoder_resolution / (double)rs->pos->update_frequency)/10);
//DEBUG(E_ROBOT_SYSTEM, "wheel %d : omega_t=%.1f omega_r=%.1f", i, omega_t, omega_r);
}
}
void beacon_calibre_pos(void)
{
sensorboard.flags &= ~DO_CS;
/* init beacon pos */
pwm_ng_set(BEACON_PWM, 100);
/* find rising edge of the mirror*/
wait_ms(100);
while (sensor_get(BEACON_POS_SENSOR));
wait_ms(100);
while (!sensor_get(BEACON_POS_SENSOR));
pwm_ng_set(BEACON_PWM, 0);
beacon_reset_pos();
pid_reset(&sensorboard.beacon.pid);
encoders_spi_set_value_beacon(BEACON_ENCODER, BEACON_OFFSET_CALIBRE);
cs_set_consign(&sensorboard.beacon.cs, 0);
sensorboard.flags |= DO_CS;
}
void roller_reverse(void)
{
cs_set_consign(&ballboard.roller.cs, ROLLER_REVERSE);
}
void roller_on(void)
{
cs_set_consign(&ballboard.roller.cs, ROLLER_ON);
}
void roller_off(void)
{
cs_set_consign(&ballboard.roller.cs, ROLLER_OFF);
}
void elevator_up(void)
{
elevator_state = 0;
cs_set_consign(&mainboard.elevator.cs, elevator_pos_up);
}
void fessor_auto(void)
{
fessor_state = WAIT_SENSOR;
cs_set_consign(&mainboard.fessor.cs, fessor_pos_up);
}
void fessor_down(void)
{
fessor_state = 0;
cs_set_consign(&mainboard.fessor.cs, fessor_pos_down);
}
int main(void)
{
// init motors and PWMs
brushless_init();
// enable power bridges
sbi(DDRG, 1);
sbi(PORTG, 1);
// init uart
uart_init();
fdevopen((void *)uart0_send,NULL,0);
//printf_P(PSTR("\nbonjour\n"));
/** replaces the scheduler. This is directly derived from the interrupt which runs the brushless motors, for convenience */
brushless_0_register_periodic_event(asserv_rapide_manage); // 10 ms
/** speed PID stuff */
// PID
pid_init(&speed_pid);
pid_set_gains(&speed_pid, 180, 70, 40); // sur alim
pid_set_maximums(&speed_pid, 0, 80, PWM_MAX*4/5);
pid_set_out_shift(&speed_pid, 0);
// derivation (This could alternatively be skipped if we use the brushless peed info directly)
biquad_init(&speed_derivation);
biquad_set_numerator_coeffs(&speed_derivation, 1,-1,0); // this is a discrete derivation : O(n) = I(n) - I(n-1)
// no need to initialize denominator coeffs to 0, init has done it
// control system speed
cs_init(&speed);
cs_set_correct_filter(&speed, pid_do_filter, &speed_pid);
cs_set_process_in(&speed, brushless_set_torque, (void *)0 );
cs_set_process_out(&speed,brushless_get_pos , (void *)0 );
cs_set_feedback_filter(&speed, biquad_do_filter, &speed_derivation);
cs_set_consign(&speed, 0);
/** ramp generator parameters */
quadramp_derivate_init(&position_quadr_derv);
quadramp_derivate_set_gain_anticipation(&position_quadr_derv, 256 *3);// some anticipation : 3.0 (this is a fixed point value *1/256)
quadramp_derivate_set_goal_window(&position_quadr_derv, 5); // algorithm shut down window
quadramp_derivate_set_2nd_order_vars(&position_quadr_derv, 1 , 1); // max acceleration : 1
quadramp_derivate_set_1st_order_vars(&position_quadr_derv, 12, 12); // max speed is 12
quadramp_derivate_set_divisor(&position_quadr_derv, 2); // divisor, for precision
// control system position
cs_init(&position);
cs_set_correct_filter(&position, quadramp_derivate_do_filter, &position_quadr_derv);
cs_set_process_in(&position, (void *)cs_set_consign, &speed );
cs_set_process_out(&position,brushless_get_pos , (void *)0 );
cs_set_consign(&position, 0);
/** begin */
brushless_set_speed((void *)0 , BRUSHLESS_MAX_SPEED); // init speed
sei();
// some simple trajectories (enable one )
while(1)
{
wait_ms(3500);
cs_set_consign(&position, 400);
wait_ms(500);
cs_set_consign(&position, 0);
}
/*
while(1)
{
wait_ms(2500);
cs_set_consign(&position, 2000);
wait_ms(2500);
cs_set_consign(&position, 0);
}
// test of speed pid only, deactivate the position.
while(1)
{
wait_ms(300);
cs_set_consign(&speed, 10);
wait_ms(300);
cs_set_consign(&speed, -10);
} */
while(1);
return 0;
}
void fork_mid2(void)
{
cs_set_consign(&ballboard.forkrot.cs, FORKROT_MID2);
}
void fork_deploy(void)
{
cs_set_consign(&ballboard.forkrot.cs, FORKROT_DEPLOYED);
}
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_microb_get_value,
LEFT_ENCODER, IMP_COEF * -1.0000);
rs_set_right_ext_encoder(&mainboard.rs, encoders_microb_get_value,
RIGHT_ENCODER, IMP_COEF * 1.0000);
/* 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, 1500, 1500); /* 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);
/* ---- CS fessor */
fessor_autopos();
/* PID */
pid_init(&mainboard.fessor.pid);
pid_set_gains(&mainboard.fessor.pid, 300, 10, 150);
pid_set_maximums(&mainboard.fessor.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.fessor.pid, 10);
pid_set_derivate_filter(&mainboard.fessor.pid, 4);
/* CS */
cs_init(&mainboard.fessor.cs);
cs_set_correct_filter(&mainboard.fessor.cs, pid_do_filter, &mainboard.fessor.pid);
cs_set_process_in(&mainboard.fessor.cs, fessor_set, NULL);
cs_set_process_out(&mainboard.fessor.cs, encoders_microb_get_value, FESSOR_ENC);
fessor_up();
/* ---- CS elevator */
elevator_autopos();
/* PID */
pid_init(&mainboard.elevator.pid);
pid_set_gains(&mainboard.elevator.pid, 300, 10, 150);
pid_set_maximums(&mainboard.elevator.pid, 0, 10000, 4095);
pid_set_out_shift(&mainboard.elevator.pid, 10);
pid_set_derivate_filter(&mainboard.elevator.pid, 4);
/* CS */
cs_init(&mainboard.elevator.cs);
cs_set_correct_filter(&mainboard.elevator.cs, pid_do_filter, &mainboard.elevator.pid);
cs_set_process_in(&mainboard.elevator.cs, elevator_set, NULL);
cs_set_process_out(&mainboard.elevator.cs, encoders_microb_get_value, ELEVATOR_ENC);
elevator_down();
/* ---- CS wheel */
/* PID */
pid_init(&mainboard.wheel.pid);
pid_set_gains(&mainboard.wheel.pid, 100, 100, 0);
pid_set_maximums(&mainboard.wheel.pid, 0, 30000, 4095);
pid_set_out_shift(&mainboard.wheel.pid, 5);
pid_set_derivate_filter(&mainboard.wheel.pid, 4);
/* CS */
cs_init(&mainboard.wheel.cs);
cs_set_correct_filter(&mainboard.wheel.cs, pid_do_filter, &mainboard.wheel.pid);
cs_set_process_in(&mainboard.wheel.cs, wheel_set, NULL);
cs_set_process_out(&mainboard.wheel.cs, wheel_get_value, NULL);
cs_set_consign(&mainboard.wheel.cs, 1000);
/* set them on !! */
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
mainboard.elevator.on = 0;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
}
void elevator_down(void)
{
elevator_state = 0;
cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
}
void elevator_auto(void)
{
elevator_state = WAIT_SENSOR;
cs_set_consign(&mainboard.elevator.cs, elevator_pos_down);
}
void fork_pack(void)
{
cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED);
}
void beacon_start(void)
{
beacon_reset_pos();
sensorboard.beacon.on = 1;
cs_set_consign(&sensorboard.beacon.cs, 600);
}
void fork_eject(void)
{
cs_set_consign(&ballboard.forkrot.cs, FORKROT_EJECT);
}
void fessor_up(void)
{
fessor_state = 0;
cs_set_consign(&mainboard.fessor.cs, fessor_pos_up);
}
