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 --- .../motor/blocking_detection/blocking_detection.c | 54 ++++++++++++++++++++++ 1 file changed, 54 insertions(+) create mode 100644 digital/avr/modules/motor/blocking_detection/blocking_detection.c (limited to 'digital/avr/modules/motor/blocking_detection/blocking_detection.c') diff --git a/digital/avr/modules/motor/blocking_detection/blocking_detection.c b/digital/avr/modules/motor/blocking_detection/blocking_detection.c new file mode 100644 index 00000000..5cac8ab4 --- /dev/null +++ b/digital/avr/modules/motor/blocking_detection/blocking_detection.c @@ -0,0 +1,54 @@ +/* blocking_detection.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 "blocking_detection.h" + +#include "modules/utils/utils.h" + +void +blocking_detection_update (blocking_detection_t *bd, + int16_t current_speed, int16_t output, + pos_control_t *pos_control, + uint8_t control_enabled) +{ + if (control_enabled) + { + /* Test for blocking condition. */ + int32_t error = pos_control->cons - pos_control->cur; + if (UTILS_ABS (error) > bd->error_limit + && UTILS_ABS (current_speed) < bd->speed_limit) + bd->counter++; + else + bd->counter = 0; + /* Set blocked state for detector clients. */ + bd->blocked = bd->counter > bd->counter_limit; + } + else + { + bd->blocked = 0; + bd->counter = 0; + } +} + -- cgit v1.2.3