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[Krobot-commits] [SCM] krobot branch, master, updated. d7f900098e0a3b09db5aeed55ba47b71d321a862
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From: Xavier L. <Ba...@us...> - 2011-03-18 01:23:17
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- Log -----------------------------------------------------------------
commit d7f900098e0a3b09db5aeed55ba47b71d321a862
Author: Xavier Lagorce <Xav...@cr...>
Date: Fri Mar 18 02:21:35 2011 +0100
[Controller_Motor_STM32] Some little modifications
* Increased kernel stack
* Initialize initial reference value when creating controller
* new demo program to test motor_controller
* Controller and estimators should be correctly set for drive motors
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/cfg/cfg_proc.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/cfg/cfg_proc.h
index 382e0d4..257cab0 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/cfg/cfg_proc.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/cfg/cfg_proc.h
@@ -86,7 +86,7 @@
* $WIZ$ type = "int"
* $WIZ$ min = 0
*/
-#define CONFIG_KERN_HEAP_SIZE 4096L
+#define CONFIG_KERN_HEAP_SIZE 8192L
/**
* Module logging level.
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
index 14a7de9..7d1317b 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/controller_motor_stm32.mk
@@ -9,7 +9,7 @@ Firmware_DEBUG = 1
# Our target application
TRG += controller_motor_stm32
-controller_motor_stm32_PREFIX = "arm-none-eabi-"
+controller_motor_stm32_PREFIX = "/home/lxir/opt/arm/bin/arm-none-eabi-"
controller_motor_stm32_SUFFIX = ""
@@ -22,14 +22,14 @@ controller_motor_stm32_WIZARD_CSRC = \
bertos/cpu/cortex-m3/drv/can_stm32.c \
bertos/cpu/cortex-m3/hw/switch_ctx_cm3.c \
bertos/mware/event.c \
- bertos/kern/monitor.c \
bertos/cpu/cortex-m3/drv/timer_cm3.c \
bertos/struct/heap.c \
bertos/drv/can.c \
- bertos/mware/formatwr.c \
+ bertos/kern/monitor.c \
bertos/drv/timer.c \
bertos/kern/signal.c \
bertos/kern/proc.c \
+ bertos/mware/formatwr.c \
bertos/mware/hex.c \
#
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
index 89df632..370f723 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
@@ -37,6 +37,12 @@ static void init(void)
// Initialize CAN_MONITOR
canMonitorInit();
+ // Start control of drive motors
+ float k[] = {-68.0325, -1.0205};
+ float l0[] = {0.0236, 3.9715};
+ mc_new_controller(MOTOR3, ENCODER3, 360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
+ mc_new_controller(MOTOR4, ENCODER4, 360.0/2000.0/15.0, 0.833, 0.015, 0.005, k, -k[0], l0);
+
// Blink to say we are ready
for (uint8_t i=0; i < 2; i++) {
LED1_ON();
@@ -57,46 +63,61 @@ static void NORETURN square_process(void)
// Let's roll !
while (1)
{
- motorSetSpeed(MOTOR3 | MOTOR4, 500);
- timer_delay(1000);
- motorSetSpeed(MOTOR3, -500);
- timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 500);
- timer_delay(1000);
- motorSetSpeed(MOTOR4, -500);
- timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 500);
+ motorSetSpeed(MOTOR3 | MOTOR4, 1500);
timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 1000);
+ motorSetSpeed(MOTOR3 | MOTOR4, -1500);
timer_delay(1000);
motorSetSpeed(MOTOR3 | MOTOR4, 1500);
timer_delay(1000);
- //
- disableMotor(MOTOR3 | MOTOR4);
- /*motorSetSpeed(MOTOR3 | MOTOR4, 2000);
- timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 2500);
+ motorSetSpeed(MOTOR3 | MOTOR4, -1500);
timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 3000);
+ motorSetSpeed(MOTOR3 | MOTOR4, 1500);
timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 3500);
+ motorSetSpeed(MOTOR3 | MOTOR4, -1500);
timer_delay(1000);
- motorSetSpeed(MOTOR3 | MOTOR4, 0);
- timer_delay(1000);*/
+ disableMotor(MOTOR3 | MOTOR4);
break;
}
}
+static void NORETURN goto_process(void)
+{
+ float inc = 100;
+ float ref = 0;
+ int32_t dt=1000;
+ uint8_t ind = 0;
+
+ // Make the wheels turn
+ while(ref < 1500)
+ {
+ mc_gotoPosition(MOTOR3, ref);
+ mc_gotoPosition(MOTOR4, ref);
+ //position += speed * ((float)dt)/1000.0;
+ ref = ref + inc;
+ timer_delay(dt);
+ if(ind) {
+ LED1_ON();
+ ind = 0;
+ } else {
+ LED1_OFF();
+ ind = 1;
+ }
+ }
+ mc_delete_controller(MOTOR3);
+ mc_delete_controller(MOTOR4);
+}
+
int main(void)
{
init();
/* Create a new child process */
- proc_new(square_process, NULL, KERN_MINSTACKSIZE * 2, NULL);
+ proc_new(goto_process, NULL, KERN_MINSTACKSIZE * 8, NULL);
- enableMotor(MOTOR3 | MOTOR4);
- LED1_ON(); LED2_ON();
+ //timer_delay(4000);
+ //mc_delete_controller(MOTOR3);
+ //mc_delete_controller(MOTOR4);
/*
* The main process is kept to periodically report the stack
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index cd19110..680f3e1 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -195,6 +195,7 @@ uint8_t mc_new_controller(uint8_t motor, uint8_t encoder, float encoder_gain, fl
params->last_estimate[0] = 0; params->last_estimate[1] = 0;
params->last_output = params->last_estimate[0];
params->last_encoder_pos = getEncoderPosition(encoder);
+ params->reference = 0;
params->F[0] = 1;
params->F[1] = tau*(1-exp(-T/tau));
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/project.bertos b/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
index 33b0c75..e2a1b7f 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
+++ b/elec/boards/Controller_Motor_STM32/Firmware/project.bertos
@@ -29,11 +29,11 @@ p13
(lp14
S'signal'
p15
-aS'debug'
-p16
aS'kernel'
-p17
+p16
aS'monitor'
+p17
+aS'debug'
p18
aS'timer'
p19
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krobot
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