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[Krobot-commits] [SCM] krobot branch, master, updated. cb5df192b9fad7e421db94ddf32b6643e2cda29a
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From: Xavier L. <Ba...@us...> - 2011-03-31 23:15:42
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from d73605b0d6b8ce682a0db9516748f0c3636a30cd (commit)
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- Log -----------------------------------------------------------------
commit cb5df192b9fad7e421db94ddf32b6643e2cda29a
Author: Xavier Lagorce <Xav...@cr...>
Date: Fri Apr 1 01:11:00 2011 +0200
[Controller_Motor_STM32] Refactored trajectory_generator
* trajectory generators are not linked to a specific motor controller
(preparation to a new differential driver)
* motor_controller now uses a structure to specify parameters
* adapted can_monitor and main to reflect the changes
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index ff3ffa8..b1d7395 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -214,8 +214,8 @@ static void NORETURN canMonitorListen_process(void) {
txm.sid = 0;
// Initialize robot representation
- robot.left_wheel = MOTOR3;
- robot.right_wheel = MOTOR4;
+ robot.left_wheel = 2;
+ robot.right_wheel = 3;
robot.wheel_radius = 0.049245;
robot.shaft_width = 0.259;
@@ -239,21 +239,21 @@ static void NORETURN canMonitorListen_process(void) {
case CAN_MSG_MOVE:
move_msg.data32[0] = frame.data32[0];
move_msg.data32[1] = frame.data32[1];
- if (!tc_is_working(MOTOR3 | MOTOR4))
+ if (!tc_is_working(TC_MASK(2) | TC_MASK(3)))
tc_move(&robot, move_msg.data.distance / 1000.0, move_msg.data.speed / 1000.0, move_msg.data.acceleration / 1000.0);
break;
case CAN_MSG_TURN:
turn_msg.data32[0] = frame.data32[0];
turn_msg.data32[1] = frame.data32[1];
- if (!tc_is_working(MOTOR3 | MOTOR4))
+ if (!tc_is_working(TC_MASK(2) | TC_MASK(3)))
tc_turn(&robot, turn_msg.data.angle / 100.0, turn_msg.data.speed / 100.0, turn_msg.data.acceleration / 100.0);
break;
case CAN_MSG_STOP:
stop_msg.data32[0] = frame.data32[0];
stop_msg.data32[1] = frame.data32[1];
if (stop_msg.data.stop == 1) {
- tc_delete_controller(MOTOR3);
- tc_delete_controller(MOTOR4);
+ mc_delete_controller(MOTOR3);
+ mc_delete_controller(MOTOR4);
}
break;
case CAN_MSG_ODOMETRY_SET:
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 a60c52e..347a7c3 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
@@ -22,7 +22,7 @@ PROC_DEFINE_STACK(stack_ind, KERN_MINSTACKSIZE * 2);
static void init(void)
{
- trajectory_controller_params_t params;
+ motor_controller_params_t params;
IRQ_ENABLE;
@@ -57,10 +57,12 @@ static void init(void)
params.T = 0.005;
// Initialize left motor
params.encoder = ENCODER3;
- tc_new_controller(MOTOR3, ¶ms);
+ tc_new_controller(2);
+ mc_new_controller(¶ms, tc_get_position_generator(0));
// Initialize right motor
params.encoder = ENCODER4;
- tc_new_controller(MOTOR4, ¶ms);
+ tc_new_controller(3);
+ mc_new_controller(¶ms, tc_get_position_generator(1));
// Start odometry
odometryInit(1e-3, 0.049245, 0.259, -2.0*M_PI/2000.0/15.0);
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 fdfcc9b..93d092b 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
@@ -171,43 +171,46 @@ void motorControllerInit() {
motorsInit();
}
-uint8_t mc_new_controller(uint8_t motor, uint8_t encoder, float encoder_gain, float G0, float tau, float T, float *k, float l, float *l0, command_generator_t *generator) {
+uint8_t mc_new_controller(motor_controller_params_t *cntr_params, command_generator_t *generator) {
uint8_t motor_ind;
control_params_t *params;
+ float tau, T;
// Find the motor index
- motor_ind = get_motor_index(motor);
+ motor_ind = get_motor_index(cntr_params->motor);
params = &(controllers[motor_ind]);
if (params->enable == 0) {
// define user parameters
- params->motor = motor;
- params->encoder = encoder;
- params->encoder_gain = encoder_gain;
- params->tau = tau;
- params->T = ms_to_ticks((mtime_t)(T*1000));
- params->k[0] = k[0]; params->k[1] = k[1];
- params->l = l;
- params->l0[0] = l0[0]; params->l0[1] = l0[1];
+ params->motor = cntr_params->motor;
+ params->encoder = cntr_params->encoder;
+ params->encoder_gain = cntr_params->encoder_gain;
+ params->tau = cntr_params->tau;
+ params->T = ms_to_ticks((mtime_t)(cntr_params->T*1000));
+ params->k[0] = cntr_params->k[0]; params->k[1] = cntr_params->k[1];
+ params->l = cntr_params->l;
+ params->l0[0] = cntr_params->l0[0]; params->l0[1] = cntr_params->l0[1];
// compute other parameters
params->last_command = 0;
params->last_estimate[0] = 0; params->last_estimate[1] = 0;
params->last_output = params->last_estimate[0];
- params->last_encoder_pos = getEncoderPosition(encoder);
+ params->last_encoder_pos = getEncoderPosition(cntr_params->encoder);
params->reference = generator;
+ tau = cntr_params->tau;
+ T = cntr_params->T;
params->F[0] = 1;
params->F[1] = tau*(1-exp(-T/tau));
params->F[2] = 0;
params->F[3] = exp(-T/tau);
- params->G[0] = G0*(T+tau*exp(-T/tau)-tau);
- params->G[1] = G0*(1-exp(-T/tau));
+ params->G[0] = cntr_params->G0*(T+tau*exp(-T/tau)-tau);
+ params->G[1] = cntr_params->G0*(1-exp(-T/tau));
// enable the controller
params->enable = 1;
- enableMotor(motor);
- motorSetSpeed(motor, 0);
+ enableMotor(cntr_params->motor);
+ motorSetSpeed(cntr_params->motor, 0);
// start the controller
proc_new(motorController_process, params, KERN_MINSTACKSIZE * 16, NULL);
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.h
index 0c1a4e1..3b4df3f 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.h
@@ -13,12 +13,24 @@
#define CONTROLLER_OK 0
#define CONTROLLER_ALREADY_USED 1
+typedef struct {
+ uint8_t motor; // Motor ID to control
+ uint8_t encoder; // Encoder ID to measure motor position from
+ float encoder_gain; // Gain to convert encoder value unit to reference unit
+ float G0; // DC motor static gain
+ float tau; // DC motor time constant
+ float k[2]; // State control gain
+ float l; // Reference factoring gain
+ float l0[2]; // State observer gain
+ float T; // Sampling period of the controller in seconds
+} motor_controller_params_t;
+
void motorControllerInit(void);
float mc_getSpeed(uint8_t motor);
float mc_getPosition(uint8_t motor);
void mc_setReference(uint8_t motor, command_generator_t *generator);
-uint8_t mc_new_controller(uint8_t motor, uint8_t encoder, float encoder_gain, float G0, float tau, float T, float *k, float l, float *l0, command_generator_t *generator);
+uint8_t mc_new_controller(motor_controller_params_t *cntr_params, command_generator_t *generator);
void mc_delete_controller(uint8_t motor);
#endif
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
index a74dd55..605913d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.c
@@ -36,22 +36,14 @@ typedef struct {
void trapezoid_callback(command_generator_t *generator);
void acc_stop_callback(command_generator_t *generator);
-trajectory_controller_t controllers[4];
-
-static inline uint8_t get_motor_index(uint8_t motor_id) {
- uint8_t motor_ind;
-
- for (motor_ind = 0; (motor_id >> (motor_ind+1)) != 0; motor_ind++) ;
-
- return motor_ind;
-}
+trajectory_controller_t controllers[NUM_TC_MAX];
void trapezoid_callback(command_generator_t *generator) {
trajectory_controller_t *cont = NULL;
uint8_t i;
// Select the correct controller depending on chich callbacl triggered
- for (i=0; i < 4; i++) {
+ for (i=0; i < NUM_TC_MAX; i++) {
if (generator == &(controllers[i].position)
|| generator == &(controllers[i].speed) ) {
cont = &controllers[i];
@@ -104,7 +96,7 @@ void acc_stop_callback(command_generator_t *generator) {
uint8_t i;
// Select the correct controller depending on chich callbacl triggered
- for (i=0; i < 4; i++) {
+ for (i=0; i < NUM_TC_MAX; i++) {
if (generator == &(controllers[i].position)
|| generator == &(controllers[i].speed) ) {
cont = &controllers[i];
@@ -132,7 +124,7 @@ void tc_init(void) {
uint8_t i;
// All Trajectory controllers are disabled
- for (i=0; i < 4; i++) {
+ for (i=0; i < NUM_TC_MAX; i++) {
controllers[i].enabled = 0;
}
@@ -140,11 +132,14 @@ void tc_init(void) {
motorControllerInit();
}
-void tc_new_controller(uint8_t motor, trajectory_controller_params_t *params) {
+void tc_new_controller(uint8_t cntr_index) {
trajectory_controller_t *cont;
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+
// Get corresponding controller
- cont = &controllers[get_motor_index(motor)];
+ cont = &controllers[cntr_index];
// Do nothing if the controller already exists
if (cont->enabled == 1)
@@ -154,19 +149,7 @@ void tc_new_controller(uint8_t motor, trajectory_controller_params_t *params) {
new_ramp_generator(&cont->speed, 0., 0.);
new_ramp2_generator(&cont->position, 0., &cont->speed);
- // Start control of drive motor
- mc_new_controller(motor,
- params->encoder,
- params->encoder_gain,
- params->G0,
- params->tau,
- params->T,
- params->k,
- -params->k[0],
- params->l0,
- &cont->position);
-
- // Start the generator
+ // Start the generators
start_generator(&cont->position);
start_generator(&cont->speed);
@@ -176,31 +159,48 @@ void tc_new_controller(uint8_t motor, trajectory_controller_params_t *params) {
cont->enabled = 1;
}
-void tc_delete_controller(uint8_t motor) {
+void tc_delete_controller(uint8_t cntr_index) {
trajectory_controller_t *cont;
- cont = &controllers[get_motor_index(motor)];
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+
+ cont = &controllers[cntr_index];
if (cont->enabled == 1) {
- mc_delete_controller(motor);
cont->working = 0;
cont->enabled = 0;
+ pause_generator(&cont->speed);
+ pause_generator(&cont->position);
}
}
-uint8_t tc_is_working(uint8_t motors) {
+uint8_t tc_is_working(uint8_t cntr_indexes) {
uint8_t state = 0, i;
// For each motor in motor, test if the corresponding controller is working
- for (i=0; i < 4; i++) {
- if ( ((motors & (1<<i)) != 0) && controllers[i].working == 1)
- state |= 1 << i;
+ for (i=0; i < NUM_TC_MAX; i++) {
+ if ( ((cntr_indexes & TC_MASK(i)) != 0) && controllers[i].working == 1)
+ state |= TC_MASK(i);
}
return state;
}
-void tc_goto(uint8_t motor, float angle, float speed, float acceleration) {
+command_generator_t* tc_get_position_generator(uint8_t cntr_index) {
+ trajectory_controller_t *cont;
+
+ // Get the controller and verifies it is enabled
+ if (cntr_index >= NUM_TC_MAX)
+ return NULL;
+ cont = &controllers[cntr_index];
+ if (!cont->enabled)
+ return NULL;
+
+ return &cont->position;
+}
+
+void tc_goto(uint8_t cntr_index, float angle, float speed, float acceleration) {
float acc_dist, t_acc, t_end;
trajectory_controller_t *cont;
@@ -209,7 +209,9 @@ void tc_goto(uint8_t motor, float angle, float speed, float acceleration) {
return;
// Get the controller and verifies it is enabled
- cont = &controllers[get_motor_index(motor)];
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+ cont = &controllers[cntr_index];
if (!cont->enabled)
return;
@@ -255,7 +257,7 @@ void tc_goto(uint8_t motor, float angle, float speed, float acceleration) {
cont->working = 1;
}
-void tc_goto_speed(uint8_t motor, float speed, float acceleration) {
+void tc_goto_speed(uint8_t cntr_index, float speed, float acceleration) {
trajectory_controller_t *cont;
// Verify parameters
@@ -263,7 +265,9 @@ void tc_goto_speed(uint8_t motor, float speed, float acceleration) {
return;
// Get the controller and verifies it is enabled
- cont = &controllers[get_motor_index(motor)];
+ if (cntr_index >= NUM_TC_MAX)
+ return;
+ cont = &controllers[cntr_index];
if (!cont->enabled)
return;
@@ -281,8 +285,8 @@ void tc_move(tc_robot_t *robot, float distance, float speed, float acceleration)
float dis_s, spe_s, acc_s;
// Let's pause the wheel's speed generators to synchronize movement start
- pause_generator(&controllers[get_motor_index(robot->left_wheel)].speed);
- pause_generator(&controllers[get_motor_index(robot->right_wheel)].speed);
+ pause_generator(&controllers[robot->left_wheel].speed);
+ pause_generator(&controllers[robot->right_wheel].speed);
// Compute parameters
dis_s = distance / robot->wheel_radius * 180.0 / M_PI;
@@ -294,16 +298,16 @@ void tc_move(tc_robot_t *robot, float distance, float speed, float acceleration)
tc_goto(robot->right_wheel, dis_s, spe_s, acc_s);
// Go
- start_generator(&controllers[get_motor_index(robot->left_wheel)].speed);
- start_generator(&controllers[get_motor_index(robot->right_wheel)].speed);
+ start_generator(&controllers[robot->left_wheel].speed);
+ start_generator(&controllers[robot->right_wheel].speed);
}
void tc_turn(tc_robot_t *robot, float angle, float speed, float acceleration) {
float angle_s, spe_s, acc_s;
// Let's pause the wheel's speed generators to synchronize movement start
- pause_generator(&controllers[get_motor_index(robot->left_wheel)].speed);
- pause_generator(&controllers[get_motor_index(robot->right_wheel)].speed);
+ pause_generator(&controllers[robot->left_wheel].speed);
+ pause_generator(&controllers[robot->right_wheel].speed);
// Compute parameters
angle_s = angle * robot->shaft_width / 2.0 / robot->wheel_radius;
@@ -315,6 +319,6 @@ void tc_turn(tc_robot_t *robot, float angle, float speed, float acceleration) {
tc_goto(robot->right_wheel, angle_s, spe_s, acc_s);
// Go
- start_generator(&controllers[get_motor_index(robot->left_wheel)].speed);
- start_generator(&controllers[get_motor_index(robot->right_wheel)].speed);
+ start_generator(&controllers[robot->left_wheel].speed);
+ start_generator(&controllers[robot->right_wheel].speed);
}
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.h
index b2361d6..00b3a63 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/trajectory_controller.h
@@ -14,46 +14,46 @@
#include "command_generator.h"
#include <math.h>
-typedef struct {
- uint8_t encoder; // Encoder ID to measure motor position from
- float encoder_gain; // Gain to convert encoder value unit to reference unit
- float G0; // DC motor static gain
- float tau; // DC motor time constant
- float k[2]; // State control gain
- float l; // Reference factoring gain
- float l0[2]; // State observer gain
- float T; // Sampling period of the controller in seconds
-} trajectory_controller_params_t;
+#define NUM_TC_MAX 4
+#define TC_MASK(num) (1 << (num))
typedef struct {
- uint8_t left_wheel; // Left wheel motor ID
- uint8_t right_wheel; // Right wheel motor ID
+ uint8_t left_wheel; // Left wheel trajectory controller index
+ uint8_t right_wheel; // Right wheel trajectory controller index
float wheel_radius; // Radius of the wheels
float shaft_width; // Width of the propulsion shaft
} tc_robot_t;
-/* Initialize the trajectory controller system
- *
+/*
+ * Initialize the trajectory controller system
*/
void tc_init(void);
/* Initialize a new trajectory controller with given parameters
*
- * This function will initialize a new trajectory controller and the
- * necessary motor controller and generators.
+ * This function will initialize a new trajectory controller
+ * - cntr_index : index of the trajectory controller to initialize. It should
+ * be between 0 and (NUM_TC_MAX-1)
*/
-void tc_new_controller(uint8_t motor, trajectory_controller_params_t *params);
+void tc_new_controller(uint8_t cntr_index);
-/* Deletes a given trajectory controller
- *
+/*
+ * Deletes a given trajectory controller
*/
-void tc_delete_controller(uint8_t motor);
+void tc_delete_controller(uint8_t cntr_index);
-/* Indicates if the last planified action on 'motors' is finished
+/* Indicates if the last planified action on 'cntr_indexes' is finished
+ * - cntr_indexes : logical OR of TC_MASK(cntr_index) for interesting indexes
*
* Returns the logical OR of working controllers among the ones specified in motors
*/
-uint8_t tc_is_working(uint8_t motors);
+uint8_t tc_is_working(uint8_t cntr_indexes);
+
+/*
+ * Returns the position generator outputting the result of the 'cntr_index'th
+ * Trajectory Generator.
+ */
+command_generator_t* tc_get_position_generator(uint8_t cntr_index);
/* Moves of a given angle
* - angle : angle to move of, can be positive (forward) or negative
@@ -62,12 +62,12 @@ uint8_t tc_is_working(uint8_t motors);
* - speed : moving speed (in units per second) should be positive.
* - acceleration : in units per second per second, should be positive.
*/
-void tc_goto(uint8_t motor, float angle, float speed, float acceleration);
+void tc_goto(uint8_t cntr_index, float angle, float speed, float acceleration);
/* Accelerates or brakes the robot to the given speed
*
*/
-void tc_goto_speed(uint8_t motor, float speed, float acceleration);
+void tc_goto_speed(uint8_t cntr_index, float speed, float acceleration);
/* Moves along a line
* - robot : pointer to a structure describing the robot configuration
hooks/post-receive
--
krobot
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