void dual_quadramp_do_filter(struct dual_quadramp_filter *q) {
int32_t x_speed, y_speed;
int32_t x_acc, y_acc;
int x_distance, y_distance;
x_distance = abs(q->x_pos - q->x_consign);
y_distance = abs(q->y_pos - q->y_consign);
x_speed = (int32_t)(q->speed * x_distance / (float)(x_distance + y_distance));
y_speed = (int32_t)(q->speed * y_distance / (float)(x_distance + y_distance));
x_acc = (int32_t)(q->acc * x_distance / (float)(x_distance + y_distance));
y_acc = (int32_t)(q->acc * y_distance / (float)(x_distance + y_distance));
quadramp_set_1st_order_vars(&q->x_quadramp, x_speed, x_speed);
quadramp_set_2nd_order_vars(&q->x_quadramp, x_acc, x_acc);
quadramp_set_1st_order_vars(&q->y_quadramp, y_speed, y_speed);
quadramp_set_2nd_order_vars(&q->y_quadramp, y_acc, y_acc);
q->x_pos = quadramp_do_filter((void *)&q->x_quadramp, q->x_consign);
q->y_pos = quadramp_do_filter((void *)&q->y_quadramp, q->y_consign);
}
/** set speed consign in quadramp filter */
void set_quadramp_acc(struct trajectory *traj, double d_acc, double a_acc)
{
struct quadramp_filter * q_d, * q_a;
q_d = traj->csm_distance->consign_filter_params;
q_a = traj->csm_angle->consign_filter_params;
quadramp_set_2nd_order_vars(q_d, ABS(d_acc), ABS(d_acc));
quadramp_set_2nd_order_vars(q_a, ABS(a_acc), ABS(a_acc));
}
int main(void)
{
struct quadramp_filter q;
int32_t in=0, out=0, prev_out=0;
int32_t i=0;
quadramp_init(&q);
for (i=0 ; i<4000 ; i++) {
switch(i) {
case 0:
quadramp_set_1st_order_vars(&q, 50, 100);
quadramp_set_2nd_order_vars(&q, 1, 2);
in = 10000;
break;
case 600:
in = 9000;
break;
case 630:
in = 10000;
break;
case 1000:
in = -5000;
break;
case 1500:
in = -4000;
break;
case 2000:
quadramp_set_1st_order_vars(&q, 10, 10);
quadramp_set_2nd_order_vars(&q, 2, 2);
in = 10000;
break;
case 3000:
quadramp_set_1st_order_vars(&q, 100, 100);
break;
default:
break;
}
out = quadramp_do_filter(&q, in);
printf("%" SCNu32 " %" SCNu32 " %" SCNu32 " %" SCNu32 "\n", i, in, out, out-prev_out);
prev_out = out;
}
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 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 htrajectory_setASpeed( htrajectory_t *htj, double speed, double acc )
{
quadramp_set_1st_order_vars(htj->qramp_a, speed, speed);
quadramp_set_2nd_order_vars(htj->qramp_a, acc, acc);
}
