Commit from zer0 (2008-01-10 20:21 CET)
================
another merge from b_zer0
aversive config/config.in
1.48
aversive mk/aversive_project.mk
1.38
aversive
modules/devices/control_system/control_system_manager/control_system_manager.h
1.10
aversive modules/devices/control_system/filters/ramp/ramp.h
1.5
aversive modules/devices/encoders/encoders_microb/encoders_microb.c
1.8
aversive
modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
1.3
=========================
aversive/config/config.in (1.47 -> 1.48)
=========================
@@ -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)
===============================
aversive/mk/aversive_project.mk (1.37 -> 1.38)
===============================
@@ -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
=======================================================================================
aversive/modules/devices/control_system/control_system_manager/control_system_manager.h
(1.9 -> 1.10)
=======================================================================================
@@ -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 1.9 2008-01-08 20:05:03 zer0
Exp $
+ * Revision : $Id: control_system_manager.h,v 1.10 2008-01-10 19:21:48 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 -> 1.5)
===========================================================
@@ -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*/
};
===================================================================
aversive/modules/devices/encoders/encoders_microb/encoders_microb.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: encoders_microb.c,v 1.7 2007-05-24 13:08:47 zer0 Exp $
+ * Revision : $Id: encoders_microb.c,v 1.8 2008-01-10 19:21:48 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>
======================================================================================
aversive/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
(1.2 -> 1.3)
======================================================================================
@@ -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 1.2 2008-01-08 20:05:03
zer0 Exp $
+ * Revision : $Id: blocking_detection_manager.h,v 1.3 2008-01-10 19:21:48
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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