Commit from zer0 on branch b_zer0 (2008-02-14 21:32 CET)
=================================
use avrdude delay xwhen programming fuse
aversive config/prog_fuses.sh 1.3.4.3
=============================
aversive/config/prog_fuses.sh (1.3.4.2 -> 1.3.4.3)
=============================
@@ -134,7 +134,7 @@
do
rm -f $f 2> /dev/null
echo 0x00 > ${f}_new
- ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i
+ ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i -i $(AVRDUDE_DELAY)
if [ ! -f $f ]; then
CANNOT_READ=1
fi
@@ -238,7 +238,7 @@
y|Y)
for f in ${FUSE_LIST}; do
hex2intel ${f}_new
- ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:w:${f}_new:i
+ ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:w:${f}_new:i -i $(AVRDUDE_DELAY)
done
exit 0
;;
Commit from zer0 (2008-02-14 21:34 CET)
================
first beacon program
+ aversive_projects microb2008/beacons/error_config.h 1.1
+ aversive_projects microb2008/beacons/main.c 1.1
+ aversive_projects microb2008/beacons/main.h 1.1
+ aversive_projects microb2008/beacons/uart_config.h 1.1
===================================================
aversive_projects/microb2008/beacons/error_config.h (1.1)
===================================================
@@ -0,0 +1,31 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: error_config.h,v 1.1 2008-02-14 20:34:11 zer0 Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
===========================================
aversive_projects/microb2008/beacons/main.c (1.1)
===========================================
@@ -0,0 +1,180 @@
+/*
+ * Copyright Droids Corporation (2007)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.1 2008-02-14 20:34:11 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+
+#include <aversive/error.h>
+#include <aversive/wait.h>
+#include <aversive/list.h>
+
+#include <uart.h>
+
+#include "main.h"
+
+#define PWM_MOTOR 20000
+
+
+struct beacon beacon;
+
+static uint16_t motor_period = 0;
+static uint16_t prev_tcnt1=0;
+
+static volatile uint16_t nb_enc = 0;
+static volatile uint8_t use_max_period = 2;
+
+/* this variable is set to 1 at each beacon round, when the data are
+ * ready to be used */
+static volatile uint8_t ready=0;
+
+/* timer 1 overflow */
+SIGNAL(SIG_OVERFLOW1)
+{
+ static uint16_t prev_nb_enc = 0;
+
+ /* if there were no encoder signal during a full timer period,
+ * it means we are too slow: set period variable to MAX during
+ * 2 timer periods */
+ if (nb_enc == prev_nb_enc) {
+ use_max_period = 2;
+ cbi(LASER_OUT_PORT, LASER_OUT_BIT);
+ }
+ else {
+ if (use_max_period)
+ use_max_period --;
+ else
+ sbi(LASER_OUT_PORT, LASER_OUT_BIT);
+ }
+
+ /* set motor PWM */
+ sbi(MOTOR_PORT, MOTOR_BIT);
+
+ sei();
+ prev_nb_enc = nb_enc;
+}
+
+/* timer 1 output compare */
+SIGNAL(SIG_OUTPUT_COMPARE1A)
+{
+ /* only reset pwm signal */
+ cbi(MOTOR_PORT, MOTOR_BIT);
+}
+
+/* motor speed (top tour) */
+SIGNAL(BEACON_ENC_SIG)
+{
+ uint16_t cur;
+
+ cur = TCNT1;
+ nb_enc++;
+ motor_period = cur - prev_tcnt1;
+ prev_tcnt1 = cur;
+
+ /* we suppose^W hope that we won't have any BEACON interrupt
+ * during at least 10 ms */
+ sei();
+
+ /* if ready==0, the main program requested the data */
+ if (ready == 0) {
+ ready = 1;
+ }
+
+}
+
+/* photodiode signal */
+SIGNAL(SENSOR_SIG)
+{
+
+}
+
+static inline int32_t motor_get_speed(void)
+{
+ if (use_max_period)
+ return 0;
+ return (0xFFFFFFFF) / (uint32_t)motor_period;
+}
+
+static inline int16_t motor_get_period(void)
+{
+ if (use_max_period)
+ return 0xFFFF;
+ return motor_period;
+}
+
+void my_pwm_set(int32_t val)
+{
+ OCR1A = (uint16_t)val;
+}
+
+/* PWM command through uart */
+void my_uart_recv_char(char c)
+{
+ if (c=='+')
+ my_pwm_set(50000);
+ if (c=='-')
+ my_pwm_set(0);
+ printf("%u\n", motor_get_period());
+}
+
+int main(void)
+{
+ /* ddr */
+ DDRA = (1<<LED1BIT) | (1<<LED2BIT) | (1<<LED3BIT);
+ sbi(DDR(LASER_OUT_PORT), LASER_OUT_BIT);
+ sbi(DDR(MOTOR_PORT), MOTOR_BIT);
+
+ /* external interrupts */
+ MCUCR = (1<<ISC11) | (1<<ISC10); /* INT 1 on rising edge (motor enc) */
+ MCUCSR = (1<<ISC2); /* INT 2 on rising edge (photodiode) */
+ GICR = (1<<INT1);// | (1<<INT2); /* enable INT1 and INT2 */
+
+ /* timer 1 overflow enable */
+ TIMSK |= (1<<TOIE1) | (1<<OCIE1A);
+ TCCR1B = (1<<CS11); /* div=8 */
+
+ /* uart */
+ uart_init();
+ fdevopen(uart0_dev_send, NULL);
+ uart0_register_rx_event(my_uart_recv_char);
+
+ sei();
+
+
+ while(1) {
+ if (SENSOR_PIN & (1<<SENSOR_BIT))
+ LED2_ON();
+ else
+ LED2_OFF();
+#if 0
+ /* request data to interruption */
+ ready=0;
+ while(ready==0);
+ wait_ms(1000);
+ LED1_ON();
+ wait_ms(1000);
+ LED1_OFF();
+#endif
+ }
+ return (0);
+}
+
===========================================
aversive_projects/microb2008/beacons/main.h (1.1)
===========================================
@@ -0,0 +1,66 @@
+/*
+ * Copyright Droids Corporation (2008)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.h,v 1.1 2008-02-14 20:34:11 zer0 Exp $
+ *
+ */
+
+struct beacon {
+};
+
+extern struct beacon beacon;
+
+/* Used to get the speed of the motor */
+#define BEACON_ENC_SIG SIG_INTERRUPT1
+#define BEACON_ENC_PIN PIND
+#define BEACON_ENC_BIT 3
+
+/* switch on/off the laser */
+#define LASER_OUT_PWM ((void *)PWM1B_NUM)
+#define LASER_OUT_PORT PORTD
+#define LASER_OUT_BIT 4
+
+/* motor command */
+#define MOTOR_PWM ((void *)PWM1A_NUM)
+#define MOTOR_PORT PORTD
+#define MOTOR_BIT 5
+
+/* photodiode : we got this signal on 2 pins, first on PB2 */
+#define SENSOR_SIG SIG_INTERRUPT2
+#define SENSOR_PIN PINB
+#define SENSOR_BIT 2
+/* photodiode is also on ICP */
+/* #define SENSOR_PIN PIND */
+/* #define SENSOR_BIT 6 */
+
+/* Zigbee control : PC0->PC3 */
+
+/* Leds */
+#define LED1BIT 0
+#define LED2BIT 1
+#define LED3BIT 2
+
+#define LED1_ON() sbi(PORTA, LED1BIT)
+#define LED1_OFF() cbi(PORTA, LED1BIT)
+
+#define LED2_ON() sbi(PORTA, LED2BIT)
+#define LED2_OFF() cbi(PORTA, LED2BIT)
+
+#define LED3_ON() sbi(PORTA, LED3BIT)
+#define LED3_OFF() cbi(PORTA, LED3BIT)
+
+#define CS_PRIO 100
==================================================
aversive_projects/microb2008/beacons/uart_config.h (1.1)
==================================================
@@ -0,0 +1,72 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: uart_config.h,v 1.1 2008-02-14 20:34:11 zer0 Exp $
+ *
+ */
+
+/* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+#ifndef UART_CONFIG_H
+#define UART_CONFIG_H
+
+/*
+ * UART0 definitions
+ */
+
+/* compile uart0 fonctions, undefine it to pass compilation */
+#define UART0_COMPILE
+
+/* enable uart0 if == 1, disable if == 0 */
+#define UART0_ENABLED 1
+
+/* enable uart0 interrupts if == 1, disable if == 0 */
+#define UART0_INTERRUPT_ENABLED 1
+
+#define UART0_BAUDRATE 57600
+
+/*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+#define UART0_USE_DOUBLE_SPEED 0
+//#define UART0_USE_DOUBLE_SPEED 1
+
+#define UART0_RX_FIFO_SIZE 4
+#define UART0_TX_FIFO_SIZE 4
+//#define UART0_NBITS 5
+//#define UART0_NBITS 6
+//#define UART0_NBITS 7
+#define UART0_NBITS 8
+//#define UART0_NBITS 9
+
+#define UART0_PARITY UART_PARTITY_NONE
+//#define UART0_PARITY UART_PARTITY_ODD
+//#define UART0_PARITY UART_PARTITY_EVEN
+
+#define UART0_STOP_BIT UART_STOP_BITS_1
+//#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+/* .... same for uart 1, 2, 3 ... */
+
+#endif
+
Commit from zer0 on branch b_zer0 (2008-02-14 21:43 CET)
=================================
oops I was a bit fast with delay
aversive config/prog_fuses.sh 1.3.4.4
=============================
aversive/config/prog_fuses.sh (1.3.4.3 -> 1.3.4.4)
=============================
@@ -128,13 +128,19 @@
echo "Reading current fuse state"
+if [ ! -z "${AVRDUDE_DELAY}" ]; then
+ DELAY="-i ${AVRDUDE_DELAY}"
+else
+ DELAY=""
+fi
+
CANNOT_READ=0
for f in ${FUSE_LIST}
do
rm -f $f 2> /dev/null
echo 0x00 > ${f}_new
- ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i -i $(AVRDUDE_DELAY)
+ ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:r:${f}:i ${DELAY}
if [ ! -f $f ]; then
CANNOT_READ=1
fi
@@ -238,7 +244,7 @@
y|Y)
for f in ${FUSE_LIST}; do
hex2intel ${f}_new
- ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:w:${f}_new:i -i $(AVRDUDE_DELAY)
+ ${AVRDUDE} -p ${MCU} -P `echo ${AVRDUDE_PORT} | sed 's,",,g'` -c
${AVRDUDE_PROGRAMMER} -U ${f}:w:${f}_new:i ${DELAY}
done
exit 0
;;
Commit from zer0 (2008-02-14 22:53 CET)
================
use a catapult, not a roller
aversive_projects microb2008/common/i2c_commands.h 1.6
aversive_projects microb2008/extension/i2c_protocol.c 1.8
aversive_projects microb2008/extension/main.c 1.10
aversive_projects microb2008/extension/main.h 1.3
aversive_projects microb2008/extension/pwm_config.h 1.3
aversive_projects microb2008/main/commands.c 1.11
aversive_projects microb2008/main/i2c_protocol.c 1.10
aversive_projects microb2008/main/i2c_protocol.h 1.6
aversive_projects microb2008/main/main.c 1.17
==================================================
aversive_projects/microb2008/common/i2c_commands.h (1.5 -> 1.6)
==================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_commands.h,v 1.5 2008-01-09 22:24:45 zer0 Exp $
+ * Revision : $Id: i2c_commands.h,v 1.6 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -55,23 +55,21 @@
#define I2C_EXTENSION_COMMAND_PREPARE_WHITE 2 /* prepare a white ball drop
and set roller */
#define I2C_EXTENSION_COMMAND_PREPARE_COLORED 3 /* prepare a colored ball drop
and set roller */
#define I2C_EXTENSION_COMMAND_DROP 4 /* drop ball */
-#define I2C_EXTENSION_COMMAND_ROLLER_SPEED 5 /* set roller_speed only */
-#define I2C_EXTENSION_COMMAND_ROLLER_ANGLE 6 /* set roller_angle only */
-#define I2C_EXTENSION_COMMAND_ROLLER_CS_ON 7 /* enable roller cs */
-#define I2C_EXTENSION_COMMAND_ROLLER_CS_OFF 8 /* disable roller cs */
+#define I2C_EXTENSION_COMMAND_CATAPULT_POS 5 /* set catapult position only
*/
+#define I2C_EXTENSION_COMMAND_CATAPULT_SPEED 6 /* set catapult speed only */
+#define I2C_EXTENSION_COMMAND_CATAPULT_CS_ON 7 /* enable catapult cs */
+#define I2C_EXTENSION_COMMAND_CATAPULT_CS_OFF 8 /* disable catapult cs */
#define I2C_EXTENSION_COMMAND_BARREL_POS 9 /* set barrel position */
-#define I2C_EXTENSION_COMMAND_BARREL_CS_ON 10 /* enable barrel cs */
-#define I2C_EXTENSION_COMMAND_BARREL_CS_OFF 11 /* disable barrel cs */
+#define I2C_EXTENSION_COMMAND_BARREL_SPEED 10 /* set barrel speed */
+#define I2C_EXTENSION_COMMAND_BARREL_CS_ON 11 /* enable barrel cs */
+#define I2C_EXTENSION_COMMAND_BARREL_CS_OFF 12 /* disable barrel cs */
struct i2c_cmd_extension {
struct i2c_cmd_hdr hdr;
uint8_t cmd;
union {
- struct {
- int16_t roller_speed;
- uint8_t roller_angle;
- } s;
- int32_t barrel_pos;
+ int32_t pos;
+ uint32_t speed;
} u;
};
@@ -87,6 +85,31 @@
/****/
+
+#define I2C_CMD_EXTENSION_SET_GAIN 0x03
+
+struct i2c_cmd_extension_gain {
+ struct i2c_cmd_hdr hdr;
+ uint8_t num;
+ uint16_t p;
+ uint16_t i;
+ uint16_t d;
+};
+
+
+/****/
+
+#define I2C_CMD_EXTENSION_SET_COLOR 0x04
+
+#define I2C_EXTENSION_COLOR_RED 0
+#define I2C_EXTENSION_COLOR_BLUE 1
+struct i2c_cmd_extension_color {
+ struct i2c_cmd_hdr hdr;
+ uint8_t color;
+};
+
+
+/****/
/* requests and their answers */
/****/
@@ -125,7 +148,6 @@
uint8_t state;
uint8_t white_ball_count;
uint8_t colored_ball_count;
- int16_t roller_speed;
};
=====================================================
aversive_projects/microb2008/extension/i2c_protocol.c (1.7 -> 1.8)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.c,v 1.7 2008-01-11 22:58:18 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.8 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -74,21 +74,24 @@
break;
case I2C_EXTENSION_COMMAND_DROP:
break;
- case I2C_EXTENSION_COMMAND_ROLLER_SPEED:
- cs_set_consign(&ext.cs_r, cmd->u.s.roller_speed);
+ case I2C_EXTENSION_COMMAND_CATAPULT_POS:
+ cs_set_consign(&ext.cs_c, cmd->u.pos);
break;
- case I2C_EXTENSION_COMMAND_ROLLER_ANGLE:
- /* multiservo something */
+ case I2C_EXTENSION_COMMAND_CATAPULT_SPEED:
+ ramp_set_vars(&ext.r_c, cmd->u.speed, cmd->u.speed);
break;
- case I2C_EXTENSION_COMMAND_ROLLER_CS_ON:
- ext.flags |= ROLLER_CS_ON;
+ case I2C_EXTENSION_COMMAND_CATAPULT_CS_ON:
+ ext.flags |= CATAPULT_CS_ON;
break;
- case I2C_EXTENSION_COMMAND_ROLLER_CS_OFF:
- ext.flags &= (~ROLLER_CS_ON);
- pwm_set(ROLLER_PWM, 0);
+ case I2C_EXTENSION_COMMAND_CATAPULT_CS_OFF:
+ ext.flags &= (~CATAPULT_CS_ON);
+ pwm_set(CATAPULT_PWM, 0);
break;
case I2C_EXTENSION_COMMAND_BARREL_POS:
- cs_set_consign(&ext.cs_b, cmd->u.barrel_pos);
+ cs_set_consign(&ext.cs_b, cmd->u.pos);
+ break;
+ case I2C_EXTENSION_COMMAND_BARREL_SPEED:
+ ramp_set_vars(&ext.r_b, cmd->u.speed, cmd->u.speed);
break;
case I2C_EXTENSION_COMMAND_BARREL_CS_ON:
ext.flags |= BARREL_CS_ON;
@@ -142,7 +145,6 @@
ans.state = ext.state;
ans.white_ball_count = ext.white_ball_count;
ans.colored_ball_count = ext.colored_ball_count;
- ans.roller_speed = ext.roller_speed;
/* XXX check return value. To wait is stupid because we are
called with irq disabled */
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, sizeof(ans),
I2C_CTRL_GENERIC);
@@ -195,6 +197,27 @@
break;
}
+ case I2C_CMD_EXTENSION_SET_GAIN:
+ {
+ struct i2c_cmd_extension_gain * cmd = (struct
i2c_cmd_extension_gain *) buf;
+ if (size != sizeof (*cmd))
+ goto error;
+ if (cmd->num == 0)
+ pid_set_gains(&ext.pid_b, cmd->p, cmd->i,
cmd->d);
+ else
+ pid_set_gains(&ext.pid_c, cmd->p, cmd->i,
cmd->d);
+ break;
+ }
+
+ case I2C_CMD_EXTENSION_SET_COLOR:
+ {
+ struct i2c_cmd_extension_color * cmd = (struct
i2c_cmd_extension_color *) buf;
+ if (size != sizeof (*cmd))
+ goto error;
+ ext.color = cmd->color;
+ break;
+ }
+
/* Add other commands here ...*/
=============================================
aversive_projects/microb2008/extension/main.c (1.9 -> 1.10)
=============================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.9 2008-01-09 22:24:12 zer0 Exp $
+ * Revision : $Id: main.c,v 1.10 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -62,16 +62,9 @@
/* called every 5 ms */
void do_cs(void * dummy)
{
- static int32_t roller_prev_pos = 0;
- int32_t roller_pos;
-
- /* process roller speed */
- roller_pos = encoders_microb_get_value(ROLLER_ENCODER);
- ext.roller_speed = roller_prev_pos - roller_pos; /* sign inverted */
- roller_prev_pos = roller_pos;
-
- if (ext.flags & ROLLER_CS_ON)
- cs_manage(&ext.cs_r);
+ if (ext.flags & CATAPULT_CS_ON)
+ cs_manage(&ext.cs_c);
+ /* bd_manage ? */
if (ext.flags & BARREL_CS_ON)
cs_manage(&ext.cs_b);
@@ -98,18 +91,12 @@
scheduler_interrupt();
}
-int32_t roller_get_speed(void * dummy)
-{
- /* invert sign */
- return -ext.roller_speed;
-}
-
int main(void)
{
/* i/o */
DDRB = (1<<LED5BIT) | (1<<LED6BIT) | (1<<LED7BIT) ;
memset(&ext, 0, sizeof(struct ext));
- ext.flags = ROLLER_CS_ON | BARREL_CS_ON;
+ ext.flags = CATAPULT_CS_ON | BARREL_CS_ON;
/* i2c */
i2c_protocol_init();
@@ -132,24 +119,28 @@
scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
+
/* multiservo */
// multiservo_init(); /* XXX which timer ? */
- /* CS Roller (speed) */
- pid_init(&ext.pid_r);
- pid_set_gains(&ext.pid_r, 500, 5, 0);
- pid_set_maximums(&ext.pid_r, 0, 5000, 4095);
- pid_set_out_shift(&ext.pid_r, 4);
-
- cs_init(&ext.cs_r);
- cs_set_correct_filter(&ext.cs_r, pid_do_filter, &ext.pid_r);
- cs_set_process_in(&ext.cs_r, pwm_set, ROLLER_PWM);
- cs_set_process_out(&ext.cs_r, roller_get_speed, NULL);
- cs_set_consign(&ext.cs_r, 0);
+ /* CS Catapult (speed) */
+ pid_init(&ext.pid_c);
+ pid_set_gains(&ext.pid_c, 2000, 0, 0);
+ pid_set_maximums(&ext.pid_c, 0, 100000, 4095);
+ pid_set_out_shift(&ext.pid_c, 4);
+
+ ramp_init(&ext.r_c);
+ ramp_set_vars(&ext.r_c, 2000, 2000); /* set speed */
+
+ cs_init(&ext.cs_c);
+ cs_set_correct_filter(&ext.cs_c, pid_do_filter, &ext.pid_c);
+ cs_set_process_in(&ext.cs_c, pwm_set, CATAPULT_PWM);
+ cs_set_process_out(&ext.cs_c, encoders_microb_get_value,
CATAPULT_ENCODER);
+ cs_set_consign(&ext.cs_c, 0);
/* CS barrel (position) */
pid_init(&ext.pid_b);
- pid_set_gains(&ext.pid_b, 2000, 0, 0);
+ pid_set_gains(&ext.pid_b, 200, 0, 0);
pid_set_maximums(&ext.pid_b, 0, 100000, 4095);
pid_set_out_shift(&ext.pid_b, 10);
pid_set_derivate_filter(&ext.pid_b, 4);
=============================================
aversive_projects/microb2008/extension/main.h (1.2 -> 1.3)
=============================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.2 2008-01-09 22:24:12 zer0 Exp $
+ * Revision : $Id: main.h,v 1.3 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -28,9 +28,10 @@
#include <ramp.h>
struct ext {
- /* roller */
- struct cs cs_r;
- struct pid_filter pid_r;
+ /* catapult */
+ struct cs cs_c;
+ struct ramp_filter r_c;
+ struct pid_filter pid_c;
/* barrel */
struct cs cs_b;
@@ -42,8 +43,7 @@
uint8_t flags;
uint8_t white_ball_count;
uint8_t colored_ball_count;
- int16_t roller_speed;
-
+ uint8_t color; /* out color */
};
extern struct ext ext;
@@ -51,14 +51,14 @@
#define BARREL_PWM ((void *)PWM1B_NUM)
#define BARREL_ENCODER ((void *) 0)
-#define ROLLER_PWM ((void *)PWM1A_NUM)
-#define ROLLER_ENCODER ((void *) 1)
+#define CATAPULT_PWM ((void *)PWM1A_NUM)
+#define CATAPULT_ENCODER ((void *) 1)
/* event priorities (from highest to lowest) */
#define LED_PRIO 170
#define CS_PRIO 150
-#define ROLLER_CS_ON 1
+#define CATAPULT_CS_ON 1
#define BARREL_CS_ON 2
/********************** LEDS */
===================================================
aversive_projects/microb2008/extension/pwm_config.h (1.2 -> 1.3)
===================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: pwm_config.h,v 1.2 2008-01-09 22:24:12 zer0 Exp $
+ * Revision : $Id: pwm_config.h,v 1.3 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -43,7 +43,7 @@
#define PWM_SIGNIFICANT_BITS 12
#define TIMER1_MODE TIMER_16_MODE_PWM_10
-#define TIMER1_PRESCALE TIMER1_PRESCALER_DIV_1
+#define TIMER1_PRESCALE TIMER1_PRESCALER_DIV_8
#define PWM1A_MODE (PWM_SIGNED)
============================================
aversive_projects/microb2008/main/commands.c (1.10 -> 1.11)
============================================
@@ -22,6 +22,7 @@
#include "eeprom.h"
//#include "test.h"
#include "sensor.h"
+#include "../common/i2c_commands.h"
/**********************************************************/
/* Events on/off */
@@ -1804,7 +1805,6 @@
printf_P(PSTR("state=%x white=%d colored=%d\n"),
robot.extension_state, robot.white_ball_count,
robot.colored_ball_count);
- printf_P(PSTR("current roller speed=%d\n"), robot.roller_speed);
}
prog_char str_extension_arg0[] = "extension";
@@ -1825,67 +1825,67 @@
};
/**********************************************************/
-/* Roller */
+/* Catapult */
-/* this structure is filled when cmd_roller is parsed successfully */
-struct cmd_roller_result {
+/* this structure is filled when cmd_catapult is parsed successfully */
+struct cmd_catapult_result {
fixed_string_t arg0;
fixed_string_t arg1;
int16_t arg2;
};
-/* function called when cmd_roller is parsed successfully */
-static void cmd_roller_parsed(void * parsed_result, void * data)
+/* function called when cmd_catapult is parsed successfully */
+static void cmd_catapult_parsed(void * parsed_result, void * data)
{
- struct cmd_roller_result *res = (struct cmd_roller_result *)
parsed_result;
+ struct cmd_catapult_result *res = (struct cmd_catapult_result *)
parsed_result;
if (!strcmp_P(res->arg1, PSTR("speed"))) {
- i2c_roller_speed(res->arg2);
+ i2c_catapult_speed(res->arg2);
}
- else if (!strcmp_P(res->arg1, PSTR("angle"))) {
- i2c_roller_angle(res->arg2);
+ else if (!strcmp_P(res->arg1, PSTR("pos"))) {
+ i2c_catapult_pos(res->arg2);
}
else if (!strcmp_P(res->arg1, PSTR("cs_on"))) {
- i2c_roller_cs_on();
+ i2c_catapult_cs_on();
}
else if (!strcmp_P(res->arg1, PSTR("cs_off"))) {
- i2c_roller_cs_off();
+ i2c_catapult_cs_off();
}
}
-prog_char str_roller_arg0[] = "roller";
-parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg0, str_roller_arg0);
-prog_char str_roller_arg1[] = "speed#angle";
-parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg1, str_roller_arg1);
-parse_pgm_token_num_t cmd_roller_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, INT16);
+prog_char str_catapult_arg0[] = "catapult";
+parse_pgm_token_string_t cmd_catapult_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_catapult_result, arg0, str_catapult_arg0);
+prog_char str_catapult_arg1[] = "speed#pos";
+parse_pgm_token_string_t cmd_catapult_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_catapult_result, arg1, str_catapult_arg1);
+parse_pgm_token_num_t cmd_catapult_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, UINT32);
-prog_char help_roller[] = "Set roller speed";
-parse_pgm_inst_t cmd_roller = {
- .f = cmd_roller_parsed, /* function to call */
+prog_char help_catapult[] = "Set catapult speed";
+parse_pgm_inst_t cmd_catapult = {
+ .f = cmd_catapult_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
- .help_str = help_roller,
+ .help_str = help_catapult,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_roller_arg0,
- (prog_void *)&cmd_roller_arg1,
- (prog_void *)&cmd_roller_arg2,
+ (prog_void *)&cmd_catapult_arg0,
+ (prog_void *)&cmd_catapult_arg1,
+ (prog_void *)&cmd_catapult_arg2,
NULL,
},
};
-prog_char str_roller_arg1_cs[] = "cs_on#cs_off";
-parse_pgm_token_string_t cmd_roller_arg1_cs = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg1, str_roller_arg1_cs);
+prog_char str_catapult_arg1_cs[] = "cs_on#cs_off";
+parse_pgm_token_string_t cmd_catapult_arg1_cs =
TOKEN_STRING_INITIALIZER(struct cmd_catapult_result, arg1,
str_catapult_arg1_cs);
-prog_char help_roller_cs[] = "Enable/disable roller cs";
-parse_pgm_inst_t cmd_roller_cs = {
- .f = cmd_roller_parsed, /* function to call */
+prog_char help_catapult_cs[] = "Enable/disable catapult cs";
+parse_pgm_inst_t cmd_catapult_cs = {
+ .f = cmd_catapult_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
- .help_str = help_roller_cs,
+ .help_str = help_catapult_cs,
.tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_roller_arg0,
- (prog_void *)&cmd_roller_arg1_cs,
+ (prog_void *)&cmd_catapult_arg0,
+ (prog_void *)&cmd_catapult_arg1_cs,
NULL,
},
};
@@ -1910,6 +1910,9 @@
if (!strcmp_P(res->arg1, PSTR("pos"))) {
i2c_barrel_pos(res->arg2);
}
+ else if (!strcmp_P(res->arg1, PSTR("speed"))) {
+ i2c_barrel_speed(res->arg2);
+ }
else if (!strcmp_P(res->arg1, PSTR("cs_on"))) {
i2c_barrel_cs_on();
}
@@ -1920,12 +1923,12 @@
prog_char str_barrel_arg0[] = "barrel";
parse_pgm_token_string_t cmd_barrel_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_barrel_result, arg0, str_barrel_arg0);
-prog_char str_barrel_arg1[] = "pos";
+prog_char str_barrel_arg1[] = "pos#speed";
parse_pgm_token_string_t cmd_barrel_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_barrel_result, arg1, str_barrel_arg1);
parse_pgm_token_num_t cmd_barrel_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, INT32);
-prog_char help_barrel[] = "Set barrel position";
+prog_char help_barrel[] = "Set barrel position/speed";
parse_pgm_inst_t cmd_barrel = {
.f = cmd_barrel_parsed, /* function to call */
.data = NULL, /* 2nd arg of func */
@@ -1954,6 +1957,44 @@
},
};
+/**********************************************************/
+/* Color */
+
+/* this structure is filled when cmd_color is parsed successfully */
+struct cmd_color_result {
+ fixed_string_t arg0;
+ fixed_string_t color;
+};
+
+/* function called when cmd_color is parsed successfully */
+static void cmd_color_parsed(void * parsed_result, void * data)
+{
+ struct cmd_color_result *res = (struct cmd_color_result *)
parsed_result;
+ if (!strcmp_P(res->color, PSTR("red"))) {
+ i2c_set_color(I2C_EXTENSION_COLOR_RED);
+ }
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ i2c_set_color(I2C_EXTENSION_COLOR_RED);
+ }
+ printf_P("Done\n");
+}
+
+prog_char str_color_arg0[] = "color";
+parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_color_result, arg0, str_color_arg0);
+prog_char str_color_color[] = "blue#red";
+parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct
cmd_color_result, color, str_color_color);
+
+prog_char help_color[] = "Set our color";
+parse_pgm_inst_t cmd_color = {
+ .f = cmd_color_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_color,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_color_arg0,
+ (prog_void *)&cmd_color_color,
+ NULL,
+ },
+};
/**********************************************************/
@@ -2000,9 +2041,10 @@
(parse_pgm_inst_t *)&cmd_opponent,
(parse_pgm_inst_t *)&cmd_opponent_set,
(parse_pgm_inst_t *)&cmd_extension,
- (parse_pgm_inst_t *)&cmd_roller,
- (parse_pgm_inst_t *)&cmd_roller_cs,
+ (parse_pgm_inst_t *)&cmd_catapult,
+ (parse_pgm_inst_t *)&cmd_catapult_cs,
(parse_pgm_inst_t *)&cmd_barrel,
(parse_pgm_inst_t *)&cmd_barrel_cs,
+ (parse_pgm_inst_t *)&cmd_color,
NULL,
};
================================================
aversive_projects/microb2008/main/i2c_protocol.c (1.9 -> 1.10)
================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.c,v 1.9 2008-01-11 23:26:58 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.10 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -191,7 +191,6 @@
robot.extension_state = ans->state;
robot.white_ball_count = ans->white_ball_count;
robot.colored_ball_count = ans->colored_ball_count;
- robot.roller_speed = ans->roller_speed;
break;
}
@@ -255,6 +254,18 @@
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
+/* XXX todo in extension, and add in cmdline */
+void i2c_set_gains(uint8_t num, uint16_t p, uint16_t i, uint16_t d)
+{
+ struct i2c_cmd_extension_gain buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_SET_GAIN;
+ buf.num = num;
+ buf.p = p;
+ buf.i = i;
+ buf.d = d;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
void i2c_harvest(void)
{
struct i2c_cmd_extension buf;
@@ -279,57 +290,53 @@
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_prepare_white(int16_t roller_speed, uint8_t roller_angle)
+void i2c_prepare_white(void)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
buf.cmd = I2C_EXTENSION_COMMAND_PREPARE_WHITE;
- buf.u.s.roller_speed = roller_speed;
- buf.u.s.roller_angle = roller_angle;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_prepare_colored(int16_t roller_speed, uint8_t roller_angle)
+void i2c_prepare_colored(void)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
buf.cmd = I2C_EXTENSION_COMMAND_PREPARE_COLORED;
- buf.u.s.roller_speed = roller_speed;
- buf.u.s.roller_angle = roller_angle;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_roller_speed(int16_t roller_speed)
+void i2c_catapult_speed(int32_t catapult_speed)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
- buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_SPEED;
- buf.u.s.roller_speed = roller_speed;
+ buf.cmd = I2C_EXTENSION_COMMAND_CATAPULT_SPEED;
+ buf.u.speed = catapult_speed;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_roller_angle(uint8_t roller_angle)
+void i2c_catapult_pos(uint32_t catapult_pos)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
- buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_ANGLE;
- buf.u.s.roller_angle = roller_angle;
+ buf.cmd = I2C_EXTENSION_COMMAND_CATAPULT_POS;
+ buf.u.pos = catapult_pos;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_roller_cs_on(void)
+void i2c_catapult_cs_on(void)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
- buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_CS_ON;
+ buf.cmd = I2C_EXTENSION_COMMAND_CATAPULT_CS_ON;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_roller_cs_off(void)
+void i2c_catapult_cs_off(void)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
- buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_CS_OFF;
+ buf.cmd = I2C_EXTENSION_COMMAND_CATAPULT_CS_OFF;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
@@ -338,7 +345,16 @@
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
buf.cmd = I2C_EXTENSION_COMMAND_BARREL_POS;
- buf.u.barrel_pos = barrel_pos;
+ buf.u.pos = barrel_pos;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_barrel_speed(int32_t barrel_speed)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_BARREL_SPEED;
+ buf.u.speed = barrel_speed;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
@@ -358,6 +374,14 @@
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
+void i2c_set_color(uint8_t color)
+{
+ struct i2c_cmd_extension_color buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_SET_COLOR;
+ buf.color = color;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
/******/
int8_t i2c_req_read_debug_buffer(void)
================================================
aversive_projects/microb2008/main/i2c_protocol.h (1.5 -> 1.6)
================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.h,v 1.5 2008-01-09 22:24:45 zer0 Exp $
+ * Revision : $Id: i2c_protocol.h,v 1.6 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -44,15 +44,18 @@
void i2c_harvest(void);
void i2c_pickup(void);
void i2c_drop(void);
-void i2c_prepare_white(int16_t roller_speed, uint8_t roller_angle);
-void i2c_prepare_colored(int16_t roller_speed, uint8_t roller_angle);
-void i2c_roller_speed(int16_t roller_speed);
-void i2c_roller_angle(uint8_t roller_angle);
-void i2c_roller_cs_on(void);
-void i2c_roller_cs_off(void);
+void i2c_prepare_white(void);
+void i2c_prepare_colored(void);
+void i2c_catapult_speed(int32_t catapult_speed);
+void i2c_catapult_pos(uint32_t catapult_pos);
+void i2c_catapult_cs_on(void);
+void i2c_catapult_cs_off(void);
void i2c_barrel_pos(int32_t barrel_pos);
+void i2c_barrel_speed(int32_t barrel_speed);
void i2c_barrel_cs_on(void);
void i2c_barrel_cs_off(void);
+void i2c_set_gains(uint8_t num, uint16_t p, uint16_t i, uint16_t d);
+void i2c_set_color(uint8_t color);
int8_t i2c_req_extension_status(void);
#endif
========================================
aversive_projects/microb2008/main/main.c (1.16 -> 1.17)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.16 2008-01-09 22:24:45 zer0 Exp $
+ * Revision : $Id: main.c,v 1.17 2008-02-14 21:53:38 zer0 Exp $
*
*/
@@ -349,6 +349,16 @@
int c;
const char * history;
+ DDRB=0x10;
+
+ while(1) {
+ PORTB=0x10;
+ wait_ms(100);
+ PORTB=0x00;
+ wait_ms(100);
+ }
+
+
/* init struct robot */
memset(&robot, 0, sizeof(struct robot));
robot.cs_events = DO_CS | DO_RS | DO_POS | DO_BD | DO_POWER;
Commit from zer0 (2008-02-15 00:00 CET)
================
prepare barrel helpers
aversive_projects microb2008/extension/Makefile 1.4
aversive_projects microb2008/extension/i2c_protocol.c 1.9
aversive_projects microb2008/extension/main.c 1.11
aversive_projects microb2008/extension/main.h 1.4
===============================================
aversive_projects/microb2008/extension/Makefile (1.3 -> 1.4)
===============================================
@@ -5,7 +5,7 @@
CFLAGS+=-Werror
# List C source files here. (C dependencies are automatically generated.)
-SRC = $(TARGET).c i2c_protocol.c
+SRC = $(TARGET).c i2c_protocol.c barrel.c catapult.c
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
=====================================================
aversive_projects/microb2008/extension/i2c_protocol.c (1.8 -> 1.9)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.c,v 1.8 2008-02-14 21:53:38 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.9 2008-02-14 23:00:04 zer0 Exp $
*
*/
@@ -24,12 +24,13 @@
#include <aversive.h>
#include <aversive/list.h>
+#include <cirbuf.h>
#include <i2c.h>
#include <pwm.h>
#include <control_system_manager.h>
-#include <cirbuf.h>
#include "main.h"
+#include "barrel.h"
#include "../common/i2c_commands.h"
/** The emission fifo of debug */
@@ -143,8 +144,8 @@
i2c_flush();
ans.hdr.cmd = I2C_ANS_EXTENSION_STATUS;
ans.state = ext.state;
- ans.white_ball_count = ext.white_ball_count;
- ans.colored_ball_count = ext.colored_ball_count;
+ ans.white_ball_count = barrel_state.white_ball_count;
+ ans.colored_ball_count = barrel_state.colored_ball_count;
/* XXX check return value. To wait is stupid because we are
called with irq disabled */
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, sizeof(ans),
I2C_CTRL_GENERIC);
=============================================
aversive_projects/microb2008/extension/main.c (1.10 -> 1.11)
=============================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.10 2008-02-14 21:53:38 zer0 Exp $
+ * Revision : $Id: main.c,v 1.11 2008-02-14 23:00:04 zer0 Exp $
*
*/
@@ -30,14 +30,13 @@
#include <scheduler.h>
#include <i2c.h>
-#include <pwm.h>
-#include <pid.h>
-#include <ramp.h>
-#include <control_system_manager.h>
#include <timer.h>
+#include <pwm.h>
#include <encoders_microb.h>
#include "main.h"
+#include "barrel.h"
+#include "catapult.h"
#include "i2c_protocol.h"
#include "../common/i2c_commands.h"
@@ -123,40 +122,8 @@
/* multiservo */
// multiservo_init(); /* XXX which timer ? */
- /* CS Catapult (speed) */
- pid_init(&ext.pid_c);
- pid_set_gains(&ext.pid_c, 2000, 0, 0);
- pid_set_maximums(&ext.pid_c, 0, 100000, 4095);
- pid_set_out_shift(&ext.pid_c, 4);
-
- ramp_init(&ext.r_c);
- ramp_set_vars(&ext.r_c, 2000, 2000); /* set speed */
-
- cs_init(&ext.cs_c);
- cs_set_correct_filter(&ext.cs_c, pid_do_filter, &ext.pid_c);
- cs_set_process_in(&ext.cs_c, pwm_set, CATAPULT_PWM);
- cs_set_process_out(&ext.cs_c, encoders_microb_get_value,
CATAPULT_ENCODER);
- cs_set_consign(&ext.cs_c, 0);
-
- /* CS barrel (position) */
- pid_init(&ext.pid_b);
- pid_set_gains(&ext.pid_b, 200, 0, 0);
- pid_set_maximums(&ext.pid_b, 0, 100000, 4095);
- pid_set_out_shift(&ext.pid_b, 10);
- pid_set_derivate_filter(&ext.pid_b, 4);
-
- ramp_init(&ext.r_b);
- ramp_set_vars(&ext.r_b, 200, 200); /* set speed */
-
- cs_init(&ext.cs_b);
- cs_set_consign_filter(&ext.cs_b, ramp_do_filter, &ext.r_b);
- cs_set_correct_filter(&ext.cs_b, pid_do_filter, &ext.pid_b);
- cs_set_process_in(&ext.cs_b, pwm_set, BARREL_PWM);
- cs_set_process_out(&ext.cs_b, encoders_microb_get_value,
BARREL_ENCODER);
- cs_set_consign(&ext.cs_b, 0);
-
- bd_init(&ext.bd_b, &ext.cs_b);
- bd_set_thresholds(&ext.bd_b, 300, 300, 20);
+ barrel_init();
+ catapult_init();
/* debug via i2c (um zu gut zu machen) */
fdevopen(debug_send, NULL);
=============================================
aversive_projects/microb2008/extension/main.h (1.3 -> 1.4)
=============================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.3 2008-02-14 21:53:38 zer0 Exp $
+ * Revision : $Id: main.h,v 1.4 2008-02-14 23:00:04 zer0 Exp $
*
*/
@@ -41,8 +41,6 @@
uint8_t state;
uint8_t flags;
- uint8_t white_ball_count;
- uint8_t colored_ball_count;
uint8_t color; /* out color */
};
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