From 4895e54c666db9720abda0aa8ae901058679aee3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 18 Dec 2011 15:19:06 +0100 Subject: digital/asserv: convert to new control system --- digital/asserv/src/asserv/cs.c | 84 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 84 insertions(+) create mode 100644 digital/asserv/src/asserv/cs.c (limited to 'digital/asserv/src/asserv/cs.c') diff --git a/digital/asserv/src/asserv/cs.c b/digital/asserv/src/asserv/cs.c new file mode 100644 index 00000000..74f44591 --- /dev/null +++ b/digital/asserv/src/asserv/cs.c @@ -0,0 +1,84 @@ +/* cs.c - Control system definition. */ +/* {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * 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. + * + * }}} */ +#include "common.h" +#include "cs.h" + +encoder_t encoder_left, encoder_right, encoder_aux[AC_ASSERV_AUX_NB]; +encoder_corrector_t encoder_right_corrector; +output_t output_left, output_right, output_aux[AC_ASSERV_AUX_NB]; + +control_system_polar_t cs_main; +control_system_single_t cs_aux[AC_ASSERV_AUX_NB]; + +void +cs_init (void) +{ + uint8_t i; + /* Initialise encoders. */ + encoder_init (0, &encoder_left); + encoder_init (1, &encoder_right); + encoder_init (2, &encoder_aux[0]); + encoder_init (3, &encoder_aux[1]); + /* Initialise outputs. */ + output_left.max = OUTPUT_MAX; + output_init (0, &output_left); + output_right.max = OUTPUT_MAX; + output_init (1, &output_right); + output_aux[0].max = OUTPUT_MAX; + output_init (2, &output_aux[0]); + output_aux[1].max = OUTPUT_MAX; + output_init (3, &output_aux[1]); + /* Initialise control system. */ + control_system_polar_init (&cs_main); + cs_main.encoder_left = &encoder_left; + cs_main.encoder_right = &encoder_right; + cs_main.output_left = &output_left; + cs_main.output_right = &output_right; + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + { + control_system_single_init (&cs_aux[i]); + cs_aux[i].encoder = &encoder_aux[i]; + cs_aux[i].output = &output_aux[i]; + } +} + +void +cs_update_prepare (void) +{ + uint8_t i; + control_system_polar_update_prepare (&cs_main); + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + control_system_single_update_prepare (&cs_aux[i]); +} + +void +cs_update (void) +{ + uint8_t i; + control_system_polar_update (&cs_main); + for (i = 0; i < AC_ASSERV_AUX_NB; i++) + control_system_single_update (&cs_aux[i]); +} + -- cgit v1.2.3