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/speed_control/speed_control.h | 91 ++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 digital/avr/modules/motor/speed_control/speed_control.h (limited to 'digital/avr/modules/motor/speed_control/speed_control.h') diff --git a/digital/avr/modules/motor/speed_control/speed_control.h b/digital/avr/modules/motor/speed_control/speed_control.h new file mode 100644 index 00000000..14e1ef15 --- /dev/null +++ b/digital/avr/modules/motor/speed_control/speed_control.h @@ -0,0 +1,91 @@ +#ifndef speed_control_h +#define speed_control_h +/* speed_control.h */ +/* 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 "modules/motor/pos_control/pos_control.h" + +/** Speed control state. */ +struct speed_control_t +{ + /** Current speed, f8.8. */ + int16_t cur; + /** Whether to use the consign position (1) or not (0). */ + uint8_t use_pos; + /** Consign speed, f8.8. */ + int16_t cons; + /** Consign position. */ + uint32_t pos_cons; + /** Maximum speed for position consign, u7. */ + int8_t max; + /** Slow speed, deprecated, u7. */ + int8_t slow; + /** Acceleration, f8.8. */ + int16_t acc; + /** Associated position control, to simplify function prototypes. */ + pos_control_t *pos_control; +}; +typedef struct speed_control_t speed_control_t; + +/** Initialise speed control. */ +void +speed_control_init (speed_control_t *speed_control, + pos_control_t *pos_control); + +/** Control speed and update position control. */ +void +speed_control_update (speed_control_t *speed_control, + uint8_t enabled); + +/** Set speed consign. Accelerate to the given speed. */ +void +speed_control_set_speed (speed_control_t *speed_control, int8_t speed); + +/** Set position consign offset. Move to a position measured from the current + * controlled position (which may be different from the actual position), + * control speed to match requested acceleration. */ +void +speed_control_pos_offset (speed_control_t *speed_control, int32_t offset); + +/** Set position consign offset from the current actual position. Move to a + * position measured from the actual position, control speed to match + * requested acceleration. + * + * Warning: This is usually not what you want. Only use this if offset has + * been computed from encoder. */ +void +speed_control_pos_offset_from_here (speed_control_t *speed_control, + int32_t offset); + +/** Set absolute position consign. Useful to restore an previous position. */ +void +speed_control_pos (speed_control_t *speed_control, int32_t pos_cons); + +/** Stop right now, no acceleration! You really should avoid this function + * unless the motor is actually almost stopped. */ +void +speed_control_hard_stop (speed_control_t *speed_control); + +#endif /* speed_control_h */ -- cgit v1.2.3