From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/pos.h | 61 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100644 digital/mimot/src/dirty/pos.h (limited to 'digital/mimot/src/dirty/pos.h') diff --git a/digital/mimot/src/dirty/pos.h b/digital/mimot/src/dirty/pos.h new file mode 100644 index 00000000..514b091c --- /dev/null +++ b/digital/mimot/src/dirty/pos.h @@ -0,0 +1,61 @@ +#ifndef pos_h +#define pos_h +/* pos.h */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2008 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. + * + * }}} */ + +/** Position control state. */ +struct pos_t +{ + /** Current position. */ + uint32_t cur; + /** Consign position. */ + uint32_t cons; + /** PID coefficients (f8.8, maximum depends on saturation values). */ + uint16_t kp, ki, kd; + /** Current integral value. */ + int32_t i; + /** Last error value. */ + int32_t e_old; + /** Blocking detection: error limit. */ + int32_t blocked_error_limit; + /** Blocking detection: speed limit. */ + int16_t blocked_speed_limit; + /** Blocking detection: counter limit. */ + uint8_t blocked_counter_limit; + /** Count the number of blocked detection. */ + uint8_t blocked_counter; +}; + +extern struct pos_t pos_aux[AC_ASSERV_AUX_NB]; + +extern int32_t pos_e_sat, pos_i_sat, pos_d_sat; + +void +pos_update (void); + +void +pos_reset (struct pos_t *pos); + +#endif /* pos_h */ -- cgit v1.2.3