[Krobot-commits] [SCM] krobot branch, master, updated. cdde1ef37393f7bd15d0fd5038c197b8a0e2d421

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit cdde1ef37393f7bd15d0fd5038c197b8a0e2d421
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sat Apr 2 18:02:55 2011 +0200

    [Controller_Motor_STM32] Fixed bug in callback generation with differential drive

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
index ac57d5d..264cf7d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.c
@@ -42,13 +42,17 @@ command_generator_t* new_ramp2_generator(command_generator_t *generator, float s
 }
 
 command_generator_t* new_dd_generator(command_generator_t *generator,
+                                      command_generator_t *linear_pos,
                                       command_generator_t *linear_speed,
+                                      command_generator_t *rotational_pos,
                                       command_generator_t *rotational_speed,
                                       float wheel_radius, float shaft_width,
                                       uint8_t type) {
   generator->type.t = (type == 1) ? GEN_DD_RIGHT : GEN_DD_LEFT;
   generator->type.callback.type = GEN_CALLBACK_NONE;
+  generator->dd.linear_pos = linear_pos;
   generator->dd.linear_speed = linear_speed;
+  generator->dd.rotational_pos = rotational_pos;
   generator->dd.rotational_speed = rotational_speed;
   generator->dd.wheel_radius = wheel_radius;
   generator->dd.shaft_width = shaft_width;
@@ -138,11 +142,19 @@ float get_output_value(command_generator_t *generator) {
     generator->ramp2.last_time = cur_time;
     break;
   case GEN_DD_RIGHT:
+    // Update position generators to allow callbacks
+    get_output_value(generator->dd.linear_pos);
+    get_output_value(generator->dd.rotational_pos);
+    // Compute output
     u1 = get_output_value(generator->dd.linear_speed);
     u2 = get_output_value(generator->dd.rotational_speed);
     generator->type.last_output = (4.0*u1+u2*generator->dd.shaft_width) / (4.0 * generator->dd.wheel_radius);
     break;
   case GEN_DD_LEFT:
+    // Update position generators to allow callbacks
+    get_output_value(generator->dd.linear_pos);
+    get_output_value(generator->dd.rotational_pos);
+    // Compute output
     u1 = get_output_value(generator->dd.linear_speed);
     u2 = get_output_value(generator->dd.rotational_speed);
     generator->type.last_output = (4.0*u1-u2*generator->dd.shaft_width) / (4.0 * generator->dd.wheel_radius);
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
index 38d4a00..6d888d6 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/command_generator.h
@@ -71,7 +71,9 @@ typedef struct {
 
 typedef struct {
   placeholder_generator_t gen;
+  command_generator_t *linear_pos;
   command_generator_t *linear_speed;
+  command_generator_t *rotational_pos;
   command_generator_t *rotational_speed;
   float wheel_radius;
   float shaft_width;
@@ -112,14 +114,22 @@ command_generator_t* new_ramp2_generator(command_generator_t *generator,
 
 /* Initializes a new Differential Drive generator.
  *  - generator : pointer to the generator to initialize
+ *  - linear_pos : pointer to the generator giving the integrates of linear_speed. This
+ *                 generator will be called at each computation to allow update in parallel
+ *                 with linear_speed.
  *  - linear_speed : pointer to the generator giving the linear speed of the drive
+ *  - rotational_pos : pointer to the generator giving the integrates of rotational_speed. This
+ *                 generator will be called at each computation to allow update in parallel
+ *                 with rotational_speed.
  *  - rotational_speed : pointer to the generator giving the rotational speed of the drive
  *  - wheel_radius : radius of the wheels
  *  - shaft_width : width of the propulsion shaft
  *  - type : 1 for the right_wheel, -1 for the left_wheel
  */
 command_generator_t* new_dd_generator(command_generator_t *generator,
+                                      command_generator_t *linear_pos,
                                       command_generator_t *linear_speed,
+                                      command_generator_t *rotational_pos,
                                       command_generator_t *rotational_speed,
                                       float wheel_radius, float shaft_width,
                                       uint8_t type);
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
index ccf28e7..3e43444 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
@@ -28,12 +28,16 @@ void dd_start(float wheel_radius, float shaft_width) {
   tc_new_controller(DD_LINEAR_SPEED_TC);
   tc_new_controller(DD_ROTATIONAL_SPEED_TC);
   new_dd_generator(&params.left_wheel_speed,
+                   tc_get_position_generator(DD_LINEAR_SPEED_TC),
                    tc_get_speed_generator(DD_LINEAR_SPEED_TC),
+                   tc_get_position_generator(DD_ROTATIONAL_SPEED_TC),
                    tc_get_speed_generator(DD_ROTATIONAL_SPEED_TC),
                    wheel_radius, shaft_width,
                    -1);
   new_dd_generator(&params.right_wheel_speed,
+                   tc_get_position_generator(DD_LINEAR_SPEED_TC),
                    tc_get_speed_generator(DD_LINEAR_SPEED_TC),
+                   tc_get_position_generator(DD_ROTATIONAL_SPEED_TC),
                    tc_get_speed_generator(DD_ROTATIONAL_SPEED_TC),
                    wheel_radius, shaft_width,
                    1);
@@ -92,6 +96,9 @@ void dd_move(float distance, float speed, float acceleration) {
 }
 
 void dd_turn(float angle, float speed, float acceleration) {
+  if (angle > 1.0)
+    LED2_ON();
+
   if (params.enabled) {
     params.last_rot_acceleration = acceleration;
     tc_goto(DD_ROTATIONAL_SPEED_TC, angle, speed, params.last_rot_acceleration);


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