/* 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_corrector_init (&encoder_right_corrector); 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]); }