Commit from zer0 (2008-01-10 20:21 CET) ================ another merge from b_zer0
aversive config/config.in 1.48 aversive mk/aversive_project.mk 1.38 aversive modules/devices/control_system/control_system_manager/control_system_manager.h 1.10 aversive modules/devices/control_system/filters/ramp/ramp.h 1.5 aversive modules/devices/encoders/encoders_microb/encoders_microb.c 1.8 aversive modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h 1.3 ========================= aversive/config/config.in (1.47 -> 1.48) ========================= @@ -330,11 +330,10 @@ $CONFIG_MODULE_FIXED_POINT #### BLOCKING DETECTION MANAGER -dep_bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER \ - $CONFIG_MODULE_ROBOT_SYSTEM +bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER #### OBSTACLE AVOIDANCE -dep_bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE +bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE endmenu # (robot) =============================== aversive/mk/aversive_project.mk (1.37 -> 1.38) =============================== @@ -113,8 +113,8 @@ AVRDUDE_FLAGS = -e -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q -ifneq ($(DELAY),) -AVRDUDE_FLAGS += -i $(DELAY) +ifneq ($(AVRDUDE_DELAY),) +AVRDUDE_FLAGS += -i $(AVRDUDE_DELAY) endif export AVRDUDE_FLAGS ======================================================================================= aversive/modules/devices/control_system/control_system_manager/control_system_manager.h (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: control_system_manager.h,v 1.9 2008-01-08 20:05:03 zer0 Exp $ + * Revision : $Id: control_system_manager.h,v 1.10 2008-01-10 19:21:48 zer0 Exp $ * */ @@ -114,22 +114,22 @@ void cs_manage(void * cs); /** Return the last process out send to process */ -int32_t cs_get_out( struct cs* cs); +int32_t cs_get_out(struct cs* cs); /** Return the last calculated error */ -int32_t cs_get_error( struct cs* cs); +int32_t cs_get_error(struct cs* cs); /** Return the current consign */ -int32_t cs_get_consign( struct cs* cs); +int32_t cs_get_consign(struct cs* cs); /** Return the current consign, after filter */ -int32_t cs_get_filtered_consign( struct cs* cs); +int32_t cs_get_filtered_consign(struct cs* cs); /** Return the last feedback value, after filter */ -int32_t cs_get_filtered_feedback( struct cs* cs); +int32_t cs_get_filtered_feedback(struct cs* cs); /** Change the consign without calculating control system */ -void cs_set_consign( struct cs* cs, int32_t v); +void cs_set_consign(struct cs* cs, int32_t v); #endif /* #ifndef _CONTROL_SYSTEM_MANAGER_ */ =========================================================== aversive/modules/devices/control_system/filters/ramp/ramp.h (1.4 -> 1.5) =========================================================== @@ -37,9 +37,9 @@ /** \brief Definition of structur ramp_filter */ struct ramp_filter { - uint32_t var_neg; /**Authorized negative variation*/ - uint32_t var_pos; /**Authorized positive variation*/ - int32_t prev_out; /**Previous value calculated*/ + uint32_t var_neg; /**Authorized negative variation*/ + uint32_t var_pos; /**Authorized positive variation*/ + int32_t prev_out; /**Previous value calculated*/ }; =================================================================== aversive/modules/devices/encoders/encoders_microb/encoders_microb.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: encoders_microb.c,v 1.7 2007-05-24 13:08:47 zer0 Exp $ + * Revision : $Id: encoders_microb.c,v 1.8 2008-01-10 19:21:48 zer0 Exp $ * */ @@ -57,7 +57,6 @@ #include <aversive.h> #include <aversive/wait.h> -#include <f64.h> #include <encoders_microb.h> #include <encoders_microb_config.h> ====================================================================================== aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h (1.2 -> 1.3) ====================================================================================== @@ -15,16 +15,19 @@ * 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: blocking_detection_manager.h,v 1.2 2008-01-08 20:05:03 zer0 Exp $ + * Revision : $Id: blocking_detection_manager.h,v 1.3 2008-01-10 19:21:48 zer0 Exp $ * * Olivier MATZ <[EMAIL PROTECTED]> */ /* blocking detection manager */ -#include <robot_system.h> #include <control_system_manager.h> +/* detect blocking : if the speed is below a threshold and the error + * is below another threshold during n tests, trigger the blocking + * detection. */ + struct blocking_detection { struct cs *cs; uint32_t speed_thres; _______________________________________________ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog