Commit from zer0 (2008-01-09 23:24 CET)
================
Add barrel and roller handling
aversive_projects microb2008/extension/.config 1.6
aversive_projects microb2008/extension/Makefile 1.3
+ aversive_projects microb2008/extension/encoders_microb_config.h 1.1
aversive_projects microb2008/extension/i2c_protocol.c 1.6
aversive_projects microb2008/extension/main.c 1.9
aversive_projects microb2008/extension/main.h 1.2
+ aversive_projects microb2008/extension/multiservo_config.h 1.1
+ aversive_projects microb2008/extension/pid_config.h 1.1
aversive_projects microb2008/extension/pwm_config.h 1.2
aversive_projects microb2008/extension/scheduler_config.h 1.3
+ aversive_projects microb2008/extension/timer_config.h 1.1
==============================================
aversive_projects/microb2008/extension/.config (1.5 -> 1.6)
==============================================
@@ -1,5 +1,5 @@
#
-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit
#
#
@@ -70,10 +70,6 @@
#
# Base modules
#
-
-#
-# Enable math library in generation options to see all modules
-#
# CONFIG_MODULE_CIRBUF is not set
# CONFIG_MODULE_CIRBUF_LARGE is not set
# CONFIG_MODULE_FIXED_POINT is not set
@@ -81,18 +77,14 @@
CONFIG_MODULE_SCHEDULER=y
CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
-CONFIG_MODULE_SCHEDULER_TIMER0=y
-# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_SCHEDULER_TIMER0 is not set
+CONFIG_MODULE_SCHEDULER_MANUAL=y
# CONFIG_MODULE_TIME is not set
# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
#
# Communication modules
#
-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#
# CONFIG_MODULE_UART is not set
# CONFIG_MODULE_UART_CREATE_CONFIG is not set
CONFIG_MODULE_I2C=y
@@ -108,8 +100,8 @@
#
# Hardware modules
#
-# CONFIG_MODULE_TIMER is not set
-# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+CONFIG_MODULE_TIMER=y
+CONFIG_MODULE_TIMER_CREATE_CONFIG=y
# CONFIG_MODULE_TIMER_DYNAMIC is not set
CONFIG_MODULE_PWM=y
CONFIG_MODULE_PWM_CREATE_CONFIG=y
@@ -132,8 +124,8 @@
#
# CONFIG_MODULE_LCD is not set
# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
-# CONFIG_MODULE_MULTISERVO is not set
-# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+CONFIG_MODULE_MULTISERVO=y
+CONFIG_MODULE_MULTISERVO_CREATE_CONFIG=y
#
# Brushless motor drivers (you should enable pwm modules to see all)
@@ -146,8 +138,8 @@
#
# Encoders
#
-# CONFIG_MODULE_ENCODERS_MICROB is not set
-# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+CONFIG_MODULE_ENCODERS_MICROB=y
+CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG=y
# CONFIG_MODULE_ENCODERS_EIRBOT is not set
# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
@@ -157,20 +149,16 @@
# CONFIG_MODULE_ROBOT_SYSTEM is not set
# CONFIG_MODULE_POSITION_MANAGER is not set
# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
-# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+CONFIG_MODULE_BLOCKING_DETECTION_MANAGER=y
# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
#
# Control system modules
#
-# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
-
-#
-# Filters
-#
-# CONFIG_MODULE_PID is not set
-# CONFIG_MODULE_PID_CREATE_CONFIG is not set
-# CONFIG_MODULE_RAMP is not set
+CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
+CONFIG_MODULE_PID=y
+CONFIG_MODULE_PID_CREATE_CONFIG=y
+CONFIG_MODULE_RAMP=y
# CONFIG_MODULE_QUADRAMP is not set
# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
# CONFIG_MODULE_BIQUAD is not set
@@ -178,10 +166,6 @@
#
# Crypto modules
#
-
-#
-# Crypto modules depend on utils module
-#
# CONFIG_MODULE_AES is not set
# CONFIG_MODULE_AES_CTR is not set
# CONFIG_MODULE_MD5 is not set
@@ -191,20 +175,12 @@
#
# Encodings modules
#
-
-#
-# Encoding modules depend on utils module
-#
# CONFIG_MODULE_BASE64 is not set
# CONFIG_MODULE_HAMMING is not set
#
# Debug modules
#
-
-#
-# Debug modules depend on utils module
-#
# CONFIG_MODULE_DIAGNOSTIC is not set
# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
CONFIG_MODULE_ERROR=y
===============================================
aversive_projects/microb2008/extension/Makefile (1.2 -> 1.3)
===============================================
@@ -16,6 +16,8 @@
# care about how the name is spelled on its command-line.
ASRC =
+AVRDUDE_DELAY=10
+
########################################
-include .aversive_conf
===============================================================
aversive_projects/microb2008/extension/encoders_microb_config.h (1.1)
===============================================================
@@ -0,0 +1,45 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ * Revision : $Id: encoders_microb_config.h,v 1.1 2008-01-09 22:24:12 zer0
Exp $
+ *
+ */
+#ifndef _ENCODERS_MICROB_CONFIG_H_
+#define _ENCODERS_MICROB_CONFIG_H_
+
+/** number of the LAST encoders used + 1 */
+#define ENCODERS_MICROB_NUMBER 2
+
+#define ENCODERS_MICROB_SEL_PORT PORTD
+#define ENCODERS_MICROB_SEL_BIT 2
+
+#define ENCODERS_MICROB0_ENABLED
+#define ENCODERS_MICROB0_PIN PINA
+
+#define ENCODERS_MICROB1_ENABLED
+#define ENCODERS_MICROB1_PIN PINA
+/*
+#define ENCODERS_MICROB2_ENABLED
+#define ENCODERS_MICROB2_PIN PINC
+
+#define ENCODERS_MICROB3_ENABLED
+#define ENCODERS_MICROB3_PIN PINC
+*/
+
+// ... until 7
+
+#endif
=====================================================
aversive_projects/microb2008/extension/i2c_protocol.c (1.5 -> 1.6)
=====================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.c,v 1.5 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.6 2008-01-09 22:24:12 zer0 Exp $
*
*/
@@ -26,6 +26,7 @@
#include <i2c.h>
#include <pwm.h>
+#include <control_system_manager.h>
#include "main.h"
#include "../common/i2c_commands.h"
@@ -42,7 +43,7 @@
/*** LED CONTROL ***/
void i2c_led_control(uint8_t l, uint8_t state)
{
- switch(l){
+ switch(l) {
case 5:
state? LED5_ON():LED5_OFF();
break;
@@ -52,7 +53,50 @@
case 7:
state? LED7_ON():LED7_OFF();
break;
+ default:
+ break;
+ }
+}
+/*** LED CONTROL ***/
+void i2c_control(struct i2c_cmd_extension * cmd)
+{
+ switch(cmd->cmd) {
+ case I2C_EXTENSION_COMMAND_HARVEST:
+ break;
+ case I2C_EXTENSION_COMMAND_PICKUP:
+ break;
+ case I2C_EXTENSION_COMMAND_PREPARE_WHITE:
+ break;
+ case I2C_EXTENSION_COMMAND_PREPARE_COLORED:
+ break;
+ case I2C_EXTENSION_COMMAND_DROP:
+ break;
+ case I2C_EXTENSION_COMMAND_ROLLER_SPEED:
+ cs_set_consign(&ext.cs_r, cmd->u.s.roller_speed);
+ break;
+ case I2C_EXTENSION_COMMAND_ROLLER_ANGLE:
+ /* multiservo something */
+ break;
+ case I2C_EXTENSION_COMMAND_ROLLER_CS_ON:
+ ext.flags |= ROLLER_CS_ON;
+ break;
+ case I2C_EXTENSION_COMMAND_ROLLER_CS_OFF:
+ ext.flags &= (~ROLLER_CS_ON);
+ pwm_set(ROLLER_PWM, 0);
+ break;
+ case I2C_EXTENSION_COMMAND_BARREL_POS:
+ cs_set_consign(&ext.cs_b, cmd->u.barrel_pos);
+ break;
+ case I2C_EXTENSION_COMMAND_BARREL_CS_ON:
+ ext.flags |= BARREL_CS_ON;
+ break;
+ case I2C_EXTENSION_COMMAND_BARREL_CS_OFF:
+ ext.flags &= (~BARREL_CS_ON);
+ pwm_set(BARREL_PWM, 0);
+ break;
+ default:
+ break;
}
}
@@ -87,16 +131,15 @@
return c;
}
-static uint8_t val1=0, val2=0, val3=0;
-
void i2c_send_status(void)
{
struct i2c_ans_extension_status ans;
i2c_flush();
ans.hdr.cmd = I2C_ANS_EXTENSION_STATUS;
- ans.state = val1;
- ans.white_ball_count = val2;
- ans.colored_ball_count = val3;
+ ans.state = ext.state;
+ ans.white_ball_count = ext.white_ball_count;
+ ans.colored_ball_count = ext.colored_ball_count;
+ ans.roller_speed = ext.roller_speed;
/* XXX check return value. To wait is stupid because we are
called with irq disabled */
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, sizeof(ans),
I2C_CTRL_GENERIC);
@@ -133,7 +176,7 @@
struct i2c_cmd_extension * cmd = (struct
i2c_cmd_extension *) buf;
if (size != sizeof (*cmd))
goto error;
- /* i2c_control(); */
+ i2c_control(cmd);
break;
}
=============================================
aversive_projects/microb2008/extension/main.c (1.8 -> 1.9)
=============================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.8 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: main.c,v 1.9 2008-01-09 22:24:12 zer0 Exp $
*
*/
@@ -31,11 +31,17 @@
#include <scheduler.h>
#include <i2c.h>
#include <pwm.h>
+#include <pid.h>
+#include <ramp.h>
+#include <control_system_manager.h>
+#include <timer.h>
+#include <encoders_microb.h>
#include "main.h"
#include "i2c_protocol.h"
#include "../common/i2c_commands.h"
+struct ext ext;
#define DEBUG_LED_BLINK
@@ -53,33 +59,127 @@
#endif
}
+/* called every 5 ms */
+void do_cs(void * dummy)
+{
+ static int32_t roller_prev_pos = 0;
+ int32_t roller_pos;
+
+ /* process roller speed */
+ roller_pos = encoders_microb_get_value(ROLLER_ENCODER);
+ ext.roller_speed = roller_prev_pos - roller_pos; /* sign inverted */
+ roller_prev_pos = roller_pos;
+
+ if (ext.flags & ROLLER_CS_ON)
+ cs_manage(&ext.cs_r);
+
+ if (ext.flags & BARREL_CS_ON)
+ cs_manage(&ext.cs_b);
+ bd_manage(&ext.bd_b);
+}
+
+void main_timer_interrupt(void)
+{
+ static uint8_t cpt = 0;
+ static uint8_t encoder_running = 0;
+
+ cpt++;
+
+ if (encoder_running)
+ return;
+
+ encoder_running = 1;
+ sei();
+
+ encoders_microb_manage(NULL);
+ encoder_running = 0;
+
+ if ((cpt%4) == 0)
+ scheduler_interrupt();
+}
+
+int32_t roller_get_speed(void * dummy)
+{
+ /* invert sign */
+ return -ext.roller_speed;
+}
+
int main(void)
{
/* i/o */
DDRB = (1<<LED5BIT) | (1<<LED6BIT) | (1<<LED7BIT) ;
+ memset(&ext, 0, sizeof(struct ext));
+ ext.flags = ROLLER_CS_ON | BARREL_CS_ON;
- pwm_init();
-
- /* scheduler */
- scheduler_init();
- scheduler_add_periodical_event_priority(do_debug, NULL,
100000L/SCHEDULER_UNIT, 100);
-
- i2c_protocol_init();
-
/* i2c */
+ i2c_protocol_init();
i2c_init(I2C_MODE_SLAVE, I2C_EXTENSION_ADDR);
i2c_register_recv_event(i2c_recvevent);
//i2c_register_send_event(i2c_sendevent);
//i2c_register_recv_byte_event(i2c_recvbyteevent);
+ encoders_microb_init();
+
+ /* Timer */
+ timer_init();
+ timer0_register_OV_intr(main_timer_interrupt);
+ pwm_init();
+
+ /* scheduler */
+ scheduler_init();
+ scheduler_add_periodical_event_priority(do_debug, NULL,
+ 100000L/SCHEDULER_UNIT,
LED_PRIO);
+
+ scheduler_add_periodical_event_priority(do_cs, NULL,
+ 5000L / SCHEDULER_UNIT,
CS_PRIO);
+ /* multiservo */
+ // multiservo_init(); /* XXX which timer ? */
+
+ /* CS Roller (speed) */
+ pid_init(&ext.pid_r);
+ pid_set_gains(&ext.pid_r, 500, 5, 0);
+ pid_set_maximums(&ext.pid_r, 0, 5000, 4095);
+ pid_set_out_shift(&ext.pid_r, 4);
+
+ cs_init(&ext.cs_r);
+ cs_set_correct_filter(&ext.cs_r, pid_do_filter, &ext.pid_r);
+ cs_set_process_in(&ext.cs_r, pwm_set, ROLLER_PWM);
+ cs_set_process_out(&ext.cs_r, roller_get_speed, NULL);
+ cs_set_consign(&ext.cs_r, 0);
+
+ /* CS barrel (position) */
+ pid_init(&ext.pid_b);
+ pid_set_gains(&ext.pid_b, 2000, 0, 0);
+ pid_set_maximums(&ext.pid_b, 0, 100000, 4095);
+ pid_set_out_shift(&ext.pid_b, 10);
+ pid_set_derivate_filter(&ext.pid_b, 4);
+
+ ramp_init(&ext.r_b);
+ ramp_set_vars(&ext.r_b, 200, 200); /* set speed */
+
+ cs_init(&ext.cs_b);
+ cs_set_consign_filter(&ext.cs_b, ramp_do_filter, &ext.r_b);
+ cs_set_correct_filter(&ext.cs_b, pid_do_filter, &ext.pid_b);
+ cs_set_process_in(&ext.cs_b, pwm_set, BARREL_PWM);
+ cs_set_process_out(&ext.cs_b, encoders_microb_get_value,
BARREL_ENCODER);
+ cs_set_consign(&ext.cs_b, 0);
+
+ bd_init(&ext.bd_b, &ext.cs_b);
+ bd_set_thresholds(&ext.bd_b, 300, 300, 20);
+
/* debug via i2c (um zu gut zu machen) */
fdevopen(debug_send, NULL);
sei();
while(1) {
- wait_ms(1000);
- printf("ext");
+ if (bd_get(&ext.bd_b)) {
+ cs_set_consign(&ext.cs_b,
encoders_microb_get_value(BARREL_ENCODER));
+ printf("B");
+ wait_ms(300);
+ }
+/* wait_ms(500); */
+/* printf("%ld", encoders_microb_get_value(BARREL_ENCODER)); */
}
while(1);
=============================================
aversive_projects/microb2008/extension/main.h (1.1 -> 1.2)
=============================================
@@ -15,14 +15,54 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.1 2007-06-28 18:14:37 zer0 Exp $
+ * Revision : $Id: main.h,v 1.2 2008-01-09 22:24:12 zer0 Exp $
*
*/
-/********************** LEDS */
#ifndef _MAIN_H_
#define _MAIN_H_
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+#include <pid.h>
+#include <ramp.h>
+
+struct ext {
+ /* roller */
+ struct cs cs_r;
+ struct pid_filter pid_r;
+
+ /* barrel */
+ struct cs cs_b;
+ struct pid_filter pid_b;
+ struct ramp_filter r_b;
+ struct blocking_detection bd_b;
+
+ uint8_t state;
+ uint8_t flags;
+ uint8_t white_ball_count;
+ uint8_t colored_ball_count;
+ int16_t roller_speed;
+
+};
+
+extern struct ext ext;
+
+#define BARREL_PWM ((void *)PWM1B_NUM)
+#define BARREL_ENCODER ((void *) 0)
+
+#define ROLLER_PWM ((void *)PWM1A_NUM)
+#define ROLLER_ENCODER ((void *) 1)
+
+/* event priorities (from highest to lowest) */
+#define LED_PRIO 170
+#define CS_PRIO 150
+
+#define ROLLER_CS_ON 1
+#define BARREL_CS_ON 2
+
+/********************** LEDS */
+
#define LED5BIT 2
#define LED6BIT 3
#define LED7BIT 4
==========================================================
aversive_projects/microb2008/extension/multiservo_config.h (1.1)
==========================================================
@@ -0,0 +1,59 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2006)
+ *
+ * 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
+ *
+ * Revision : $Id: multiservo_config.h,v 1.1 2008-01-09 22:24:12 zer0 Exp $
+ *
+ */
+
+
+#ifndef _MULTISERVO_CONFIG_H_
+#define _MULTISERVO_CONFIG_H_
+
+/** we need one timer, can be 0, 1, 2, 3 (depending on arch) */
+#define MULTISERVO_TIMER 1
+
+/* You should specify the config for prescaler
+ * It is in TCCRnB for 16 bits timer or in TCCRn for
+ * 8 bits timer. See the doc of your AVR device.
+ * This is not automatic because it would be too complicated.
+ *
+ * Example (for timer 3, prescaler 1) :
+ *
+ * #define MULTISERVO_TIMER_PRESCALER 1
+ * #define MULTISERVO_TIMER_PRESCALER_CONFIG (1 << CS30)
+ *
+ * Another example (for timer 2, prescaler 32) :
+ *
+ * #define MULTISERVO_TIMER_PRESCALER 128
+ * #define MULTISERVO_TIMER_PRESCALER_CONFIG ((1 << CS22) | (1 << CS20))
+ *
+ * XXX : currently, the user has to choose a good prescaler
+ * value. A good prescaler value is the more precise value
+ * (the highest) that can count during 2 ms.
+ */
+/* ok for atm 128 */
+/* #define MULTISERVO_TIMER_PRESCALER 256 */
+/* #define MULTISERVO_TIMER_PRESCALER_CONFIG (1 << CS22) */
+
+#define MULTISERVO_TIMER_PRESCALER 256
+#define MULTISERVO_TIMER_PRESCALER_CONFIG (1 << CS22)
+/* #define MULTISERVO_TIMER_PRESCALER 1 */
+/* #define MULTISERVO_TIMER_PRESCALER_CONFIG (1 << CS10) */
+
+#define MULTISERVO_NB_MAX 4
+
+#endif
===================================================
aversive_projects/microb2008/extension/pid_config.h (1.1)
===================================================
@@ -0,0 +1,30 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ *
+ *
+ */
+
+#ifndef PID_CONFIG_H
+#define PID_CONFIG_H
+
+/** the derivate term can be filtered to remove the noise. This value
+ * is the maxium sample count to keep in memory to do this
+ * filtering. For an instance of pid, this count is defined o*/
+#define PID_DERIVATE_FILTER_MAX_SIZE 4
+
+#endif
===================================================
aversive_projects/microb2008/extension/pwm_config.h (1.1 -> 1.2)
===================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: pwm_config.h,v 1.1 2007-12-31 16:23:48 zer0 Exp $
+ * Revision : $Id: pwm_config.h,v 1.2 2008-01-09 22:24:12 zer0 Exp $
*
*/
@@ -43,14 +43,14 @@
#define PWM_SIGNIFICANT_BITS 12
#define TIMER1_MODE TIMER_16_MODE_PWM_10
-#define TIMER1_PRESCALE TIMER1_PRESCALER_DIV_8
+#define TIMER1_PRESCALE TIMER1_PRESCALER_DIV_1
#define PWM1A_MODE (PWM_SIGNED)
#define PWM1A_SIGN_PORT PORTB
#define PWM1A_SIGN_BIT 1
-#define PWM1B_MODE (PWM_SIGNED)
+#define PWM1B_MODE (PWM_SIGNED|PWM_SIGN_INVERTED)
#define PWM1B_SIGN_PORT PORTB
#define PWM1B_SIGN_BIT 0
=========================================================
aversive_projects/microb2008/extension/scheduler_config.h (1.2 -> 1.3)
=========================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: scheduler_config.h,v 1.2 2007-12-31 16:23:48 zer0 Exp $
+ * Revision : $Id: scheduler_config.h,v 1.3 2008-01-09 22:24:12 zer0 Exp $
*
*/
@@ -27,12 +27,8 @@
/** maximum number of allocated events */
#define SCHEDULER_NB_MAX_EVENT 5
-
-/* The 2 values below MUST be coherent:
- * if SCHEDULER_CK = TIMER0_PRESCALER_DIV_x, then
- * you must have SCHEDULER_CLOCK_PRESCALER = x too !!! */
-#define SCHEDULER_CK TIMER0_PRESCALER_DIV_8
-#define SCHEDULER_CLOCK_PRESCALER 8
+#define SCHEDULER_UNIT_FLOAT 512.0
+#define SCHEDULER_UNIT 512L
/** number of allowed imbricated scheduler interrupts. The maximum
* should be SCHEDULER_NB_MAX_EVENT since we never need to imbricate
=====================================================
aversive_projects/microb2008/extension/timer_config.h (1.1)
=====================================================
@@ -0,0 +1,23 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2006)
+ *
+ * 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
+ *
+ * Revision : $Id: timer_config.h,v 1.1 2008-01-09 22:24:12 zer0 Exp $
+ *
+ */
+
+#define TIMER0_ENABLED
+#define TIMER0_PRESCALER_DIV 8
Commit from zer0 (2008-01-09 23:24 CET)
================
add barrel and roller handling
aversive_projects microb2008/common/i2c_commands.h 1.5
aversive_projects microb2008/main/commands.c 1.10
aversive_projects microb2008/main/i2c_protocol.c 1.8
aversive_projects microb2008/main/i2c_protocol.h 1.5
aversive_projects microb2008/main/main.c 1.16
aversive_projects microb2008/main/main.h 1.9
==================================================
aversive_projects/microb2008/common/i2c_commands.h (1.4 -> 1.5)
==================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_commands.h,v 1.4 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: i2c_commands.h,v 1.5 2008-01-09 22:24:45 zer0 Exp $
*
*/
@@ -55,12 +55,24 @@
#define I2C_EXTENSION_COMMAND_PREPARE_WHITE 2 /* prepare a white ball drop
and set roller */
#define I2C_EXTENSION_COMMAND_PREPARE_COLORED 3 /* prepare a colored ball drop
and set roller */
#define I2C_EXTENSION_COMMAND_DROP 4 /* drop ball */
+#define I2C_EXTENSION_COMMAND_ROLLER_SPEED 5 /* set roller_speed only */
+#define I2C_EXTENSION_COMMAND_ROLLER_ANGLE 6 /* set roller_angle only */
+#define I2C_EXTENSION_COMMAND_ROLLER_CS_ON 7 /* enable roller cs */
+#define I2C_EXTENSION_COMMAND_ROLLER_CS_OFF 8 /* disable roller cs */
+#define I2C_EXTENSION_COMMAND_BARREL_POS 9 /* set barrel position */
+#define I2C_EXTENSION_COMMAND_BARREL_CS_ON 10 /* enable barrel cs */
+#define I2C_EXTENSION_COMMAND_BARREL_CS_OFF 11 /* disable barrel cs */
struct i2c_cmd_extension {
struct i2c_cmd_hdr hdr;
uint8_t cmd;
- uint8_t roller_speed;
- uint8_t roller_angle;
+ union {
+ struct {
+ int16_t roller_speed;
+ uint8_t roller_angle;
+ } s;
+ int32_t barrel_pos;
+ } u;
};
/****/
@@ -113,6 +125,7 @@
uint8_t state;
uint8_t white_ball_count;
uint8_t colored_ball_count;
+ int16_t roller_speed;
};
============================================
aversive_projects/microb2008/main/commands.c (1.9 -> 1.10)
============================================
@@ -1804,6 +1804,7 @@
printf_P(PSTR("state=%x white=%d colored=%d\n"),
robot.extension_state, robot.white_ball_count,
robot.colored_ball_count);
+ printf_P(PSTR("current roller speed=%d\n"), robot.roller_speed);
}
prog_char str_extension_arg0[] = "extension";
@@ -1823,8 +1824,135 @@
},
};
+/**********************************************************/
+/* Roller */
+
+
+/* this structure is filled when cmd_roller is parsed successfully */
+struct cmd_roller_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int16_t arg2;
+};
+
+/* function called when cmd_roller is parsed successfully */
+static void cmd_roller_parsed(void * parsed_result, void * data)
+{
+ struct cmd_roller_result *res = (struct cmd_roller_result *)
parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("speed"))) {
+ i2c_roller_speed(res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("angle"))) {
+ i2c_roller_angle(res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("cs_on"))) {
+ i2c_roller_cs_on();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("cs_off"))) {
+ i2c_roller_cs_off();
+ }
+}
+
+prog_char str_roller_arg0[] = "roller";
+parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg0, str_roller_arg0);
+prog_char str_roller_arg1[] = "speed#angle";
+parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg1, str_roller_arg1);
+parse_pgm_token_num_t cmd_roller_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, INT16);
+
+
+prog_char help_roller[] = "Set roller speed";
+parse_pgm_inst_t cmd_roller = {
+ .f = cmd_roller_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_roller,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_roller_arg0,
+ (prog_void *)&cmd_roller_arg1,
+ (prog_void *)&cmd_roller_arg2,
+ NULL,
+ },
+};
+
+prog_char str_roller_arg1_cs[] = "cs_on#cs_off";
+parse_pgm_token_string_t cmd_roller_arg1_cs = TOKEN_STRING_INITIALIZER(struct
cmd_roller_result, arg1, str_roller_arg1_cs);
+
+
+prog_char help_roller_cs[] = "Enable/disable roller cs";
+parse_pgm_inst_t cmd_roller_cs = {
+ .f = cmd_roller_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_roller_cs,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_roller_arg0,
+ (prog_void *)&cmd_roller_arg1_cs,
+ NULL,
+ },
+};
+/**********************************************************/
+/* Barrel */
+
+
+/* this structure is filled when cmd_barrel is parsed successfully */
+struct cmd_barrel_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ int32_t arg2;
+};
+
+/* function called when cmd_barrel is parsed successfully */
+static void cmd_barrel_parsed(void * parsed_result, void * data)
+{
+ struct cmd_barrel_result *res = (struct cmd_barrel_result *)
parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("pos"))) {
+ i2c_barrel_pos(res->arg2);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("cs_on"))) {
+ i2c_barrel_cs_on();
+ }
+ else if (!strcmp_P(res->arg1, PSTR("cs_off"))) {
+ i2c_barrel_cs_off();
+ }
+}
+
+prog_char str_barrel_arg0[] = "barrel";
+parse_pgm_token_string_t cmd_barrel_arg0 = TOKEN_STRING_INITIALIZER(struct
cmd_barrel_result, arg0, str_barrel_arg0);
+prog_char str_barrel_arg1[] = "pos";
+parse_pgm_token_string_t cmd_barrel_arg1 = TOKEN_STRING_INITIALIZER(struct
cmd_barrel_result, arg1, str_barrel_arg1);
+parse_pgm_token_num_t cmd_barrel_arg2 = TOKEN_NUM_INITIALIZER(struct
cmd_log_result, arg2, INT32);
+
+
+prog_char help_barrel[] = "Set barrel position";
+parse_pgm_inst_t cmd_barrel = {
+ .f = cmd_barrel_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_barrel,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_barrel_arg0,
+ (prog_void *)&cmd_barrel_arg1,
+ (prog_void *)&cmd_barrel_arg2,
+ NULL,
+ },
+};
+
+prog_char str_barrel_arg1_cs[] = "cs_on#cs_off";
+parse_pgm_token_string_t cmd_barrel_arg1_cs = TOKEN_STRING_INITIALIZER(struct
cmd_barrel_result, arg1, str_barrel_arg1_cs);
+
+
+prog_char help_barrel_cs[] = "Enable/disable barrel cs";
+parse_pgm_inst_t cmd_barrel_cs = {
+ .f = cmd_barrel_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_barrel_cs,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_barrel_arg0,
+ (prog_void *)&cmd_barrel_arg1_cs,
+ NULL,
+ },
+};
@@ -1871,6 +1999,10 @@
(parse_pgm_inst_t *)&cmd_trajectory_show,
(parse_pgm_inst_t *)&cmd_opponent,
(parse_pgm_inst_t *)&cmd_opponent_set,
- (parse_pgm_inst_t *)&cmd_extension,
+ (parse_pgm_inst_t *)&cmd_extension,
+ (parse_pgm_inst_t *)&cmd_roller,
+ (parse_pgm_inst_t *)&cmd_roller_cs,
+ (parse_pgm_inst_t *)&cmd_barrel,
+ (parse_pgm_inst_t *)&cmd_barrel_cs,
NULL,
};
================================================
aversive_projects/microb2008/main/i2c_protocol.c (1.7 -> 1.8)
================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.c,v 1.7 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: i2c_protocol.c,v 1.8 2008-01-09 22:24:45 zer0 Exp $
*
*/
@@ -156,6 +156,7 @@
robot.extension_state = ans->state;
robot.white_ball_count = ans->white_ball_count;
robot.colored_ball_count = ans->colored_ball_count;
+ robot.roller_speed = ans->roller_speed;
break;
}
@@ -243,23 +244,82 @@
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_prepare_white(uint8_t roller_speed, uint8_t roller_angle)
+void i2c_prepare_white(int16_t roller_speed, uint8_t roller_angle)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
buf.cmd = I2C_EXTENSION_COMMAND_PREPARE_WHITE;
- buf.roller_speed = roller_speed;
- buf.roller_angle = roller_angle;
+ buf.u.s.roller_speed = roller_speed;
+ buf.u.s.roller_angle = roller_angle;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
-void i2c_prepare_colored(uint8_t roller_speed, uint8_t roller_angle)
+void i2c_prepare_colored(int16_t roller_speed, uint8_t roller_angle)
{
struct i2c_cmd_extension buf;
buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
buf.cmd = I2C_EXTENSION_COMMAND_PREPARE_COLORED;
- buf.roller_speed = roller_speed;
- buf.roller_angle = roller_angle;
+ buf.u.s.roller_speed = roller_speed;
+ buf.u.s.roller_angle = roller_angle;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_roller_speed(int16_t roller_speed)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_SPEED;
+ buf.u.s.roller_speed = roller_speed;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_roller_angle(uint8_t roller_angle)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_ANGLE;
+ buf.u.s.roller_angle = roller_angle;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_roller_cs_on(void)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_CS_ON;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_roller_cs_off(void)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_ROLLER_CS_OFF;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_barrel_pos(int32_t barrel_pos)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_BARREL_POS;
+ buf.u.barrel_pos = barrel_pos;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_barrel_cs_on(void)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_BARREL_CS_ON;
+ i2c_send_command((uint8_t*)&buf, sizeof(buf));
+}
+
+void i2c_barrel_cs_off(void)
+{
+ struct i2c_cmd_extension buf;
+ buf.hdr.cmd = I2C_CMD_EXTENSION_CONTROL;
+ buf.cmd = I2C_EXTENSION_COMMAND_BARREL_CS_OFF;
i2c_send_command((uint8_t*)&buf, sizeof(buf));
}
================================================
aversive_projects/microb2008/main/i2c_protocol.h (1.4 -> 1.5)
================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_protocol.h,v 1.4 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: i2c_protocol.h,v 1.5 2008-01-09 22:24:45 zer0 Exp $
*
*/
@@ -44,8 +44,15 @@
void i2c_harvest(void);
void i2c_pickup(void);
void i2c_drop(void);
-void i2c_prepare_white(uint8_t roller_speed, uint8_t roller_angle);
-void i2c_prepare_colored(uint8_t roller_speed, uint8_t roller_angle);
+void i2c_prepare_white(int16_t roller_speed, uint8_t roller_angle);
+void i2c_prepare_colored(int16_t roller_speed, uint8_t roller_angle);
+void i2c_roller_speed(int16_t roller_speed);
+void i2c_roller_angle(uint8_t roller_angle);
+void i2c_roller_cs_on(void);
+void i2c_roller_cs_off(void);
+void i2c_barrel_pos(int32_t barrel_pos);
+void i2c_barrel_cs_on(void);
+void i2c_barrel_cs_off(void);
int8_t i2c_req_extension_status(void);
#endif
========================================
aversive_projects/microb2008/main/main.c (1.15 -> 1.16)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.15 2008-01-07 22:49:06 zer0 Exp $
+ * Revision : $Id: main.c,v 1.16 2008-01-09 22:24:45 zer0 Exp $
*
*/
@@ -84,7 +84,8 @@
}
/* called every 5 ms */
-void do_cs(void * dummy) {
+void do_cs(void * dummy)
+{
static uint8_t cpt = 0;
uint8_t second;
@@ -167,7 +168,7 @@
cpt++;
- /* BAAAAd */
+ /* log ? */
if (encoder_running)
return;
========================================
aversive_projects/microb2008/main/main.h (1.8 -> 1.9)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.h,v 1.8 2008-01-05 23:36:19 zer0 Exp $
+ * Revision : $Id: main.h,v 1.9 2008-01-09 22:24:45 zer0 Exp $
*
*/
@@ -70,7 +70,6 @@
#define E_USER_SENSOR 197
/* event priorities (from highest to lowest) */
-#define ENCODERS_PRIO 200
#define LED_PRIO 170
#define TIME_PRIO 160
#define CS_PRIO 150
@@ -105,6 +104,7 @@
uint8_t extension_state;
uint8_t white_ball_count;
uint8_t colored_ball_count;
+ int16_t roller_speed;
uint8_t logs[NB_LOGS];
uint8_t log_level;
Commit from zer0 on branch b_zer0 (2008-01-09 23:26 CET)
=================================
remove bad dep
aversive config/config.in 1.42.4.18
=========================
aversive/config/config.in (1.42.4.17 -> 1.42.4.18)
=========================
@@ -330,11 +330,10 @@
$CONFIG_MODULE_FIXED_POINT
#### BLOCKING DETECTION MANAGER
-dep_bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER
\
- $CONFIG_MODULE_ROBOT_SYSTEM
+bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER
#### OBSTACLE AVOIDANCE
-dep_bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE
+bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE
endmenu # (robot)
Commit from zer0 on branch b_zer0 (2008-01-09 23:26 CET)
=================================
rename delay
aversive mk/aversive_project.mk 1.32.4.11
===============================
aversive/mk/aversive_project.mk (1.32.4.10 -> 1.32.4.11)
===============================
@@ -113,8 +113,8 @@
AVRDUDE_FLAGS = -e -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -q
-ifneq ($(DELAY),)
-AVRDUDE_FLAGS += -i $(DELAY)
+ifneq ($(AVRDUDE_DELAY),)
+AVRDUDE_FLAGS += -i $(AVRDUDE_DELAY)
endif
export AVRDUDE_FLAGS
Commit from zer0 on branch b_zer0 (2008-01-09 23:27 CET)
=================================
re-indent
aversive
modules/devices/control_system/control_system_manager/control_system_manager.h
1.7.4.4
aversive modules/devices/control_system/filters/ramp/ramp.h
1.4.4.2
=======================================================================================
aversive/modules/devices/control_system/control_system_manager/control_system_manager.h
(1.7.4.3 -> 1.7.4.4)
=======================================================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: control_system_manager.h,v 1.7.4.3 2007-12-31 16:25:00
zer0 Exp $
+ * Revision : $Id: control_system_manager.h,v 1.7.4.4 2008-01-09 22:27:01
zer0 Exp $
*
*/
@@ -114,22 +114,22 @@
void cs_manage(void * cs);
/** Return the last process out send to process */
-int32_t cs_get_out( struct cs* cs);
+int32_t cs_get_out(struct cs* cs);
/** Return the last calculated error */
-int32_t cs_get_error( struct cs* cs);
+int32_t cs_get_error(struct cs* cs);
/** Return the current consign */
-int32_t cs_get_consign( struct cs* cs);
+int32_t cs_get_consign(struct cs* cs);
/** Return the current consign, after filter */
-int32_t cs_get_filtered_consign( struct cs* cs);
+int32_t cs_get_filtered_consign(struct cs* cs);
/** Return the last feedback value, after filter */
-int32_t cs_get_filtered_feedback( struct cs* cs);
+int32_t cs_get_filtered_feedback(struct cs* cs);
/** Change the consign without calculating control system */
-void cs_set_consign( struct cs* cs, int32_t v);
+void cs_set_consign(struct cs* cs, int32_t v);
#endif /* #ifndef _CONTROL_SYSTEM_MANAGER_ */
===========================================================
aversive/modules/devices/control_system/filters/ramp/ramp.h (1.4.4.1 ->
1.4.4.2)
===========================================================
@@ -37,9 +37,9 @@
/** \brief Definition of structur ramp_filter */
struct ramp_filter {
- uint32_t var_neg; /**Authorized negative variation*/
- uint32_t var_pos; /**Authorized positive variation*/
- int32_t prev_out; /**Previous value calculated*/
+ uint32_t var_neg; /**Authorized negative variation*/
+ uint32_t var_pos; /**Authorized positive variation*/
+ int32_t prev_out; /**Previous value calculated*/
};
Commit from zer0 on branch b_zer0 (2008-01-09 23:27 CET)
=================================
no need of f64.h
aversive modules/devices/encoders/encoders_microb/encoders_microb.c 1.6.4.3
===================================================================
aversive/modules/devices/encoders/encoders_microb/encoders_microb.c (1.6.4.2
-> 1.6.4.3)
===================================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: encoders_microb.c,v 1.6.4.2 2007-05-23 17:18:13 zer0 Exp $
+ * Revision : $Id: encoders_microb.c,v 1.6.4.3 2008-01-09 22:27:19 zer0 Exp $
*
*/
@@ -57,7 +57,6 @@
#include <aversive.h>
#include <aversive/wait.h>
-#include <f64.h>
#include <encoders_microb.h>
#include <encoders_microb_config.h>
Commit from zer0 on branch b_zer0 (2008-01-09 23:27 CET)
=================================
add comment
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
1.1.2.2
======================================================================================
aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
(1.1.2.1 -> 1.1.2.2)
======================================================================================
@@ -15,16 +15,19 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: blocking_detection_manager.h,v 1.1.2.1 2007-12-31 16:25:00
zer0 Exp $
+ * Revision : $Id: blocking_detection_manager.h,v 1.1.2.2 2008-01-09 22:27:45
zer0 Exp $
*
* Olivier MATZ <[EMAIL PROTECTED]>
*/
/* blocking detection manager */
-#include <robot_system.h>
#include <control_system_manager.h>
+/* detect blocking : if the speed is below a threshold and the error
+ * is below another threshold during n tests, trigger the blocking
+ * detection. */
+
struct blocking_detection {
struct cs *cs;
uint32_t speed_thres;
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