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 robot_cs_init(robot_cs_t* rcs)
{
// zeroing structures
rcs->hrs = NULL;
rcs->hpm = NULL;
// set CS on
rcs->active = 1;
// CS not reactivated since last tick
rcs->reactivated = 0;
// setup PIDs
pid_init(&pid_x);
pid_init(&pid_y);
pid_init(&pid_angle);
pid_set_gains(&pid_x, SETTING_PID_X_GAIN_P,
SETTING_PID_X_GAIN_I,
SETTING_PID_X_GAIN_D);
pid_set_maximums(&pid_x, SETTING_PID_X_MAX_IN,
SETTING_PID_X_MAX_I,
SETTING_PID_X_MAX_OUT);
pid_set_out_shift(&pid_x, SETTING_PID_X_SHIFT);
pid_set_gains(&pid_y, SETTING_PID_Y_GAIN_P,
SETTING_PID_Y_GAIN_I,
SETTING_PID_Y_GAIN_D);
pid_set_maximums(&pid_y, SETTING_PID_Y_MAX_IN,
SETTING_PID_Y_MAX_I,
SETTING_PID_Y_MAX_OUT);
pid_set_out_shift(&pid_y, SETTING_PID_Y_SHIFT);
pid_set_gains(&pid_angle, SETTING_PID_A_GAIN_P,
SETTING_PID_A_GAIN_I,
SETTING_PID_A_GAIN_D);
pid_set_maximums(&pid_angle, SETTING_PID_A_MAX_IN,
SETTING_PID_A_MAX_I,
SETTING_PID_A_MAX_OUT);
pid_set_out_shift(&pid_angle, SETTING_PID_A_SHIFT);
// quadramp
quadramp_set_1st_order_vars(&qramp_angle,
SETTING_QRAMP_A_SPEED, SETTING_QRAMP_A_SPEED);
quadramp_set_2nd_order_vars(&qramp_angle,
SETTING_QRAMP_A_ACC, SETTING_QRAMP_A_ACC);
// setup CSMs
cs_init(&csm_x);
cs_init(&csm_y);
cs_init(&csm_angle);
cs_set_consign_filter(&csm_x, NULL, NULL);
cs_set_consign_filter(&csm_y, NULL, NULL);
cs_set_consign_filter(&csm_angle, &quadramp_do_filter, &qramp_angle);
cs_set_correct_filter(&csm_x, &pid_do_filter, &pid_x);
cs_set_correct_filter(&csm_y, &pid_do_filter, &pid_y);
cs_set_correct_filter(&csm_angle, &pid_do_filter, &pid_angle);
cs_set_feedback_filter(&csm_x, NULL, NULL);
cs_set_feedback_filter(&csm_y, NULL, NULL);
cs_set_feedback_filter(&csm_angle, NULL, NULL);
cs_set_process_out(&csm_x, &get_robot_x, rcs);
cs_set_process_out(&csm_y, &get_robot_y, rcs);
cs_set_process_out(&csm_angle, &get_robot_a, rcs);
cs_set_process_in(&csm_x, NULL, NULL);
cs_set_process_in(&csm_y, NULL, NULL);
cs_set_process_in(&csm_angle, NULL, NULL);
}
void motor_cs_init()
{
// initialize pwms
pwm_init();
// setup pwms dirs
sbi(MOTOR_CS_PWM1_DDR,MOTOR_CS_PWM1_PIN);
cbi(MOTOR_CS_PWM1_PORT,MOTOR_CS_PWM1_PIN);
sbi(MOTOR_CS_PWM2_DDR,MOTOR_CS_PWM2_PIN);
cbi(MOTOR_CS_PWM2_PORT,MOTOR_CS_PWM2_PIN);
sbi(MOTOR_CS_PWM3_DDR,MOTOR_CS_PWM3_PIN);
cbi(MOTOR_CS_PWM3_PORT,MOTOR_CS_PWM3_PIN);
motor1_sign = 0;
motor2_sign = 0;
motor3_sign = 0;
pwm_set_1A(0);
pwm_set_1B(0);
pwm_set_1C(0);
// setup brake
sbi(MOTOR_CS_BREAK_DDR, MOTOR_CS_BREAK_PIN);
cbi(MOTOR_CS_BREAK_PORT, MOTOR_CS_BREAK_PIN);
// activate interrupts
sbi(TIMSK,TOIE1);
// setup PIDs
pid_init(&pid_motor1);
pid_init(&pid_motor2);
pid_init(&pid_motor3);
pid_set_gains(&pid_motor1, 500, 0, 10) ;
pid_set_maximums(&pid_motor1, 0, 0, 0);
pid_set_out_shift(&pid_motor1, 10);
pid_set_gains(&pid_motor2, 500, 0, 10) ;
pid_set_maximums(&pid_motor2, 0, 0, 0);
pid_set_out_shift(&pid_motor2, 10);
pid_set_gains(&pid_motor3, 500, 0, 10);
pid_set_maximums(&pid_motor3, 0, 0, 0);
pid_set_out_shift(&pid_motor3, 10);
// setup CSMs
cs_init(&csm_motor1);
cs_init(&csm_motor2);
cs_init(&csm_motor3);
cs_set_consign_filter(&csm_motor1, NULL, NULL);
cs_set_consign_filter(&csm_motor2, NULL, NULL);
cs_set_consign_filter(&csm_motor3, NULL, NULL);
cs_set_correct_filter(&csm_motor1, &pid_do_filter, &pid_motor1);
cs_set_correct_filter(&csm_motor2, &pid_do_filter, &pid_motor2);
cs_set_correct_filter(&csm_motor3, &pid_do_filter, &pid_motor3);
cs_set_feedback_filter(&csm_motor1, NULL, NULL);
cs_set_feedback_filter(&csm_motor2, NULL, NULL);
cs_set_feedback_filter(&csm_motor3, NULL, NULL);
cs_set_process_out( &csm_motor1, &get_encoder_motor1, NULL);
cs_set_process_out( &csm_motor2, &get_encoder_motor2, NULL);
cs_set_process_out( &csm_motor3, &get_encoder_motor3, NULL);
cs_set_process_in( &csm_motor1, &set_pwm_motor1, NULL);
cs_set_process_in( &csm_motor2, &set_pwm_motor2, NULL);
cs_set_process_in( &csm_motor3, &set_pwm_motor3, NULL);
return;
}
