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Diffstat (limited to 'digital/asserv/src/asserv/cs.c')
-rw-r--r--digital/asserv/src/asserv/cs.c84
1 files changed, 84 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/cs.c b/digital/asserv/src/asserv/cs.c
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+/* 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]);
+}
+