From 830048da9a94cd9fb91678694dfd07d577e3070c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 5 Mar 2012 23:49:17 +0100 Subject: digital/mimot: convert to new control system --- digital/mimot/src/dirty/pos.c | 149 ------------------------------------------ 1 file changed, 149 deletions(-) delete mode 100644 digital/mimot/src/dirty/pos.c (limited to 'digital/mimot/src/dirty/pos.c') diff --git a/digital/mimot/src/dirty/pos.c b/digital/mimot/src/dirty/pos.c deleted file mode 100644 index 28684414..00000000 --- a/digital/mimot/src/dirty/pos.c +++ /dev/null @@ -1,149 +0,0 @@ -/* pos.c - Position motor control. */ -/* asserv - Position & speed motor control on AVR. {{{ - * - * Copyright (C) 2005 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 "pos.h" - -#include "modules/utils/utils.h" -#include "modules/math/fixed/fixed.h" - -#include "counter.h" -#include "pwm.h" -#include "state.h" - -/** - * This file is responsible for position motor control. The consign is a - * position of the motor shafts, as theta/alpha. Theta is the sum of right - * and left position, alpha is the difference between the right and the left - * position. - * 16 bits are enough as long as there is no long blocking (see 2005 cup!). - */ - -/** Auxiliaries control states. */ -struct pos_t pos_aux[AC_ASSERV_AUX_NB]; - -/** Error saturation. */ -int32_t pos_e_sat = 1023; -/** Integral saturation. */ -int32_t pos_i_sat = 1023; -/** Differential saturation. */ -int32_t pos_d_sat = 1023; - -/** Compute a PID. - * How to compute maximum numbers size: - * Result is 24 bits (16 bits kept after shift). - * If e_sat == 1023, e max is 11 bits (do not forget the sign bit), and diff - * max is 12 bits (can be saturated with d_sat). - * If i_sat == 1023, i max is 11 bits. - * In the final addition, let's give 23 bits to the p part, and 22 bits to the - * i and d part (23b + 22b + 22b => 23b + 23b => 24b). - * Therefore, kp can be 23 - 11 = 12 bits (f4.8). - * ki can be 22 - 11 = 11 bits (f3.8). - * kd can be 22 - 12 = 10 bits (f2.8). - * How to increase this number: - * - lower the shift. - * - bound the value returned. - * - lower e, i & d saturation. */ -static inline int16_t -pos_compute_pid (int32_t e, struct pos_t *pos) -{ - int32_t diff, pid; - /* Saturate error. */ - UTILS_BOUND (e, -pos_e_sat, pos_e_sat); - /* Integral update. */ - pos->i += e; - UTILS_BOUND (pos->i, -pos_i_sat, pos_i_sat); - /* Differential value. */ - diff = e - pos->e_old; - UTILS_BOUND (diff, -pos_d_sat, pos_d_sat); - /* Compute PID. */ - pid = e * pos->kp + pos->i * pos->ki + diff * pos->kd; - /* Save result. */ - pos->e_old = e; - return pid >> 8; -} - -/** Update PWM for a single motor system. */ -static void -pos_update_single (struct state_t *state, struct pos_t *pos, - int16_t counter_diff, struct pwm_t *pwm) -{ - if (state->mode >= MODE_POS) - { - int16_t pid; - int32_t error; - /* Update current shaft position. */ - pos->cur += counter_diff; - /* Compute error. */ - error = pos->cons - pos->cur; - /* Test or blocking. */ - if (UTILS_ABS (error) > pos->blocked_error_limit - && UTILS_ABS (counter_diff) < pos->blocked_speed_limit) - pos->blocked_counter++; - else - pos->blocked_counter = 0; - if (state->variant & 1) - { - pos_reset (pos); - } - else if (!(state->variant & 4) - && pos->blocked_counter > pos->blocked_counter_limit) - { - /* Blocked. */ - pos_reset (pos); - state_blocked (state); - pwm_set (pwm, 0); - } - else - { - /* Compute PID. */ - pid = pos_compute_pid (error, pos); - /* Update PWM. */ - pwm_set (pwm, pid); - } - } -} - -/** Update PWM according to consign. */ -void -pos_update (void) -{ - uint8_t i; - for (i = 0; i < AC_ASSERV_AUX_NB; i++) - pos_update_single (&state_aux[i], &pos_aux[i], counter_aux_diff[i], - &pwm_aux[i]); -} - -/** Reset position control state. To be called when the position control is - * deactivated. */ -void -pos_reset (struct pos_t *pos) -{ - pos->i = 0; - pos->cur = 0; - pos->cons = 0; - pos->e_old = 0; - pos->blocked_counter = 0; -} - -- cgit v1.2.3