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authorschodet2005-11-27 21:30:42 +0000
committerschodet2005-11-27 21:30:42 +0000
commit4e9742f7aa92f690429e4b6be4f53268f43374e4 (patch)
tree894ef43db240ae873fba3acc61aaffcec7a4dcc4 /n
parent051bde521bee7be72cd17118f65685dc200e2811 (diff)
Ajout de speed.
Diffstat (limited to 'n')
-rw-r--r--n/asserv/src/asserv/main.c4
-rw-r--r--n/asserv/src/asserv/pos.c1
-rw-r--r--n/asserv/src/asserv/speed.c85
3 files changed, 90 insertions, 0 deletions
diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c
index 2f9c77b..3bb0a5d 100644
--- a/n/asserv/src/asserv/main.c
+++ b/n/asserv/src/asserv/main.c
@@ -34,6 +34,7 @@
#include "counter.c"
#include "pwm.c"
#include "pos.c"
+#include "speed.c"
#include "eeprom.c"
/** Motor control mode:
@@ -101,6 +102,9 @@ main_loop (void)
pos_update ();
/* Pwm setup. */
pwm_update ();
+ /* Speed control. */
+ if (main_mode >= 2)
+ speed_update ();
/* Stats. */
if (main_stat_counter && !--main_stat_counter_cpt)
{
diff --git a/n/asserv/src/asserv/pos.c b/n/asserv/src/asserv/pos.c
index 0a1af23..d1c7e8f 100644
--- a/n/asserv/src/asserv/pos.c
+++ b/n/asserv/src/asserv/pos.c
@@ -46,6 +46,7 @@ uint16_t pos_theta_kp = 0, pos_alpha_kp = 0;
uint16_t pos_theta_ki = 0, pos_alpha_ki = 0;
/** D coefficients. */
uint16_t pos_theta_kd = 0, pos_alpha_kd = 0;
+
/** Current integral values. */
int16_t pos_theta_int, pos_alpha_int;
/** Last error values. */
diff --git a/n/asserv/src/asserv/speed.c b/n/asserv/src/asserv/speed.c
new file mode 100644
index 0000000..87223e2
--- /dev/null
+++ b/n/asserv/src/asserv/speed.c
@@ -0,0 +1,85 @@
+/* speed.c - Speed control. */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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.
+ *
+ * }}} */
+
+/**
+ * This file is responsible for speed control. It changes the current shafts
+ * positions using ramps. It can be controlled by a wanted speed or wanted
+ * shaft position.
+ */
+
+/** Current speed, uf8.8. */
+int16_t speed_theta_cur, speed_alpha_cur;
+/** Consign speed, uf8.8. */
+int16_t speed_theta_cons, speed_alpha_cons;
+/** Consign position. */
+uint16_t speed_theta_pos_cons, speed_alpha_pos_cons;
+/** Weither to use the consign position (1) or not (0). */
+uint8_t speed_pos;
+
+/** Acceleration, uf8.8. */
+int16_t speed_theta_acc, speed_alpha_acc;
+
+/* +AutoDec */
+/* -AutoDec */
+
+/** Update shaft position consign according to a speed consign. */
+static void
+speed_update_by_speed (void)
+{
+ /* Update current speed. */
+ if (UTILS_ABS (speed_theta_cons - speed_theta_cur) < speed_theta_acc)
+ speed_theta_cur = speed_theta_cons;
+ else if (speed_theta_cons > speed_theta_cur)
+ speed_theta_cur -= speed_theta_acc;
+ else
+ speed_theta_cur += speed_theta_acc;
+ if (UTILS_ABS (speed_alpha_cons - speed_alpha_cur) < speed_alpha_acc)
+ speed_alpha_cur = speed_alpha_cons;
+ else if (speed_alpha_cons > speed_alpha_cur)
+ speed_alpha_cur -= speed_alpha_acc;
+ else
+ speed_alpha_cur += speed_alpha_acc;
+ /* Update shaft position. */
+ pos_theta_cur += speed_theta_cur;
+ pos_alpha_cur += speed_alpha_cur;
+}
+
+/** Update shaft position consign according to a position consign. */
+static void
+speed_update_by_position (void)
+{
+ // TODO
+}
+
+/** Update shaft position consign according to consign. */
+static void
+speed_update (void)
+{
+ if (speed_pos)
+ speed_update_by_position ();
+ else
+ speed_update_by_speed ();
+}
+