From 928dc853e088849580aac368401999ea596644bb Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 8 Oct 2011 11:56:10 +0200 Subject: digital/avr/modules/motor: add motor control system --- .../modules/motor/control_system/control_system.c | 142 +++++++++++++++++++++ 1 file changed, 142 insertions(+) create mode 100644 digital/avr/modules/motor/control_system/control_system.c (limited to 'digital/avr/modules/motor/control_system/control_system.c') diff --git a/digital/avr/modules/motor/control_system/control_system.c b/digital/avr/modules/motor/control_system/control_system.c new file mode 100644 index 00000000..96f0cb58 --- /dev/null +++ b/digital/avr/modules/motor/control_system/control_system.c @@ -0,0 +1,142 @@ +/* control_system.c */ +/* motor - Motor control module. {{{ + * + * 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 "control_system.h" + +void +control_system_single_init (control_system_single_t *cs) +{ + speed_control_init (&cs->speed, &cs->pos); + pos_control_init (&cs->pos); +} + +void +control_system_polar_init (control_system_polar_t *cs) +{ + speed_control_init (&cs->speed_theta, &cs->pos_theta); + speed_control_init (&cs->speed_alpha, &cs->pos_alpha); + pos_control_init (&cs->pos_theta); + pos_control_init (&cs->pos_alpha); +} + +void +control_system_single_update_prepare (control_system_single_t *cs) +{ + uint8_t control_modes = cs->state.modes; + /* Update speed control. */ + speed_control_update (&cs->speed, control_modes & CS_MODE_SPEED_CONTROL); +} + +void +control_system_polar_update_prepare (control_system_polar_t *cs) +{ + uint8_t control_modes = cs->state.modes; + /* Update speed control. */ + speed_control_update (&cs->speed_theta, + control_modes & CS_MODE_SPEED_CONTROL); + speed_control_update (&cs->speed_alpha, + control_modes & CS_MODE_SPEED_CONTROL); +} + +void +control_system_single_update (control_system_single_t *cs) +{ + uint8_t control_modes = cs->state.modes; + int16_t current_speed; + int16_t out; + /* Update pos control. */ + current_speed = cs->encoder->diff; + out = pos_control_update (&cs->pos, current_speed, + control_modes & CS_MODE_POS_CONTROL); + /* Test for blocking condition, detection is done if control is enabled, + * but action is taken depending on the blocking detection mode. */ + blocking_detection_update (&cs->blocking_detection, current_speed, out, + &cs->pos, control_modes & CS_MODE_POS_CONTROL); + if (control_modes & CS_MODE_BLOCKING_DETECTION + && cs->blocking_detection.blocked) + { + control_state_blocked (&cs->state); + /* Reset control so that another action can be done immediately. */ + pos_control_update (&cs->pos, 0, 0); + blocking_detection_update (&cs->blocking_detection, 0, 0, + &cs->pos, 0); + } + /* Set output value if under position control, zero on blocking. */ + if (control_modes & CS_MODE_POS_CONTROL) + output_set (cs->output, out); + else if (control_modes & CS_MODE_BLOCKED) + output_set (cs->output, 0); +} + +void +control_system_polar_update (control_system_polar_t *cs) +{ + uint8_t control_modes = cs->state.modes; + int16_t current_speed_theta, current_speed_alpha; + int16_t out_theta, out_alpha; + /* Update pos control. */ + current_speed_theta = cs->encoder_right->diff + cs->encoder_left->diff; + current_speed_alpha = cs->encoder_right->diff - cs->encoder_left->diff; + out_theta = pos_control_update + (&cs->pos_theta, current_speed_theta, + control_modes & CS_MODE_POS_CONTROL_THETA); + out_alpha = pos_control_update + (&cs->pos_alpha, current_speed_alpha, + control_modes & CS_MODE_POS_CONTROL_ALPHA); + /* Test for blocking condition, detection is done if control is enabled, + * but action is taken depending on the blocking detection mode. */ + blocking_detection_update (&cs->blocking_detection_theta, + current_speed_theta, out_theta, &cs->pos_theta, + control_modes & CS_MODE_POS_CONTROL_THETA); + blocking_detection_update (&cs->blocking_detection_alpha, + current_speed_alpha, out_alpha, &cs->pos_alpha, + control_modes & CS_MODE_POS_CONTROL_ALPHA); + if (control_modes & CS_MODE_BLOCKING_DETECTION + && (cs->blocking_detection_theta.blocked + || cs->blocking_detection_alpha.blocked)) + { + control_state_blocked (&cs->state); + /* Reset control so that another action can be done immediately. */ + pos_control_update (&cs->pos_theta, 0, 0); + pos_control_update (&cs->pos_alpha, 0, 0); + blocking_detection_update (&cs->blocking_detection_theta, 0, 0, + &cs->pos_theta, 0); + blocking_detection_update (&cs->blocking_detection_alpha, 0, 0, + &cs->pos_alpha, 0); + } + /* Set output value if under position control, zero on blocking. */ + if (control_modes & (CS_MODE_POS_CONTROL_THETA | + CS_MODE_POS_CONTROL_ALPHA)) + { + output_set (cs->output_left, out_theta - out_alpha); + output_set (cs->output_right, out_theta + out_alpha); + } + else if (control_modes & CS_MODE_BLOCKED) + { + output_set (cs->output_left, 0); + output_set (cs->output_right, 0); + } +} + -- cgit v1.2.3