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[Krobot-commits] [SCM] krobot branch, master, updated. 11060127c18065a3b44a5f0bdfbf2ffe33ab6b17
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From: Justin <Ba...@us...> - 2011-06-09 13:34:07
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- Log -----------------------------------------------------------------
commit 11060127c18065a3b44a5f0bdfbf2ffe33ab6b17
Author: justin <justin@MacBook.(none)>
Date: Thu Jun 9 15:33:20 2011 +0200
Delete some files
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/#main.c# b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/#main.c#
deleted file mode 100644
index 77b78d4..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/#main.c#
+++ /dev/null
@@ -1,113 +0,0 @@
-/*
- * Firmware for Controller Motor STM32
- *
- * Author : Xavier Lagorce <Xav...@cr...>
- */
-#include <cpu/irq.h>
-#include <cfg/debug.h>
-#include <drv/timer.h>
-#include <drv/gpio_stm32.h>
-#include <kern/proc.h>
-#include <kern/monitor.h>
-#include <math.h>
-
-#include "hw/hw_led.h"
-#include "motor.h"
-#include "encoder.h"
-#include "asservissement.h"
-
-
-PROC_DEFINE_STACK(stack_ind, KERN_MINSTACKSIZE * 2);
-
-static void init(void)
-{
- IRQ_ENABLE;
- LEDS_INIT();
-
- /* Initialize debugging module (allow kprintf(), etc.) */
- kdbg_init();
- /* Initialize system timer */
- timer_init();
-
- /*
- * Kernel initialization: processes (allow to create and dispatch
- * processes using proc_new()).
- */
- proc_init();
-
- motorsInit();
- encodersInit();
- controlInit();
-
- // Blink to say we are ready
- for (uint8_t i=0; i < 5; i++) {
- LED1_ON();
- LED2_ON();
- LED3_ON();
- LED4_ON();
- timer_delay(100);
- LED1_OFF();
- LED2_OFF();
- LED3_OFF();
- LED4_OFF();
- timer_delay(100);
- }
-}
-
-static void NORETURN ind_process(void)
-{
- while(1) {
- LED1_ON();
- timer_delay(500);
- LED1_OFF();
- timer_delay(500);
- }
-}
-
-int main(void)
-{
- init();
- int status=0;
- int coder=0;
- /* Create a new child process */
- proc_new(ind_process, NULL, sizeof(stack_ind), stack_ind);
-
- /*
- * The main process is kept to periodically report the stack
- * utilization of all the processes (1 probe per second).
- */
-
-
-
-
- while (1)
- {
- //monitor_report();
- /* if( getEncoderDirection(ENCODER3) == FORWARD_DIRECTION )
- {
- if(status==0)
- {
- status=1;
- LED4_ON();
- }
- }
- else
- {
- if(status==1)
- {
- LED4_OFF();
- status=0;
- }
- LED4_OFF();
- }
- coder = getEncoderCount(ENCODER2);
- timer_delay(10);
- if ( getEncoderCount(ENCODER2)==65535) LED3_ON();
- //else LED3_OFF();
- timer_delay(10);*/
- timer_delay(1000);
- }
-
- return 0;
-}
-
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.c
deleted file mode 100644
index f760aea..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.c
+++ /dev/null
@@ -1,765 +0,0 @@
-#include "asservissement.h"
-#include "encoder.h"
-#include "motor.h"
-#include "odometry.h"
-
-#include <cfg/macros.h>
-#include <drv/gpio_stm32.h>
-#include "stm32lib/stm32f10x_tim.h"
-#include "stm32lib/stm32f10x_rcc.h"
-#include "stm32lib/stm32f10x.h"
-#include <math.h>
-
-
-
-
-
-
-unsigned short def_encoders[4]={ENCODER1, ENCODER2, ENCODER3, ENCODER4};
-float Kp[NUM_MOTORS]={KP1,KP2,KP3,KP4};
-
-PROC_DEFINE_STACK(stack_control, KERN_MINSTACKSIZE * 4);
-
-
-void controlInit(void) {
- int i;
-
-
- for(i=0;i<NUM_ENCODERS;i++)
- {
- encoders_status[i].globalCounter=0;
- encoders_status[i].direction=0;
- encoders_status[i].speed=0;
- encoders_status[i].rampePosition=0;
- encoders_status[i].desiredPosition=0;
- encoders_status[i].startPosition=0;
- encoders_status[i].previousCounter=getEncoderCount(1<<i);
- encoders_status[i].busy=0;
- }
- /* Create a new child process */
-
- proc_new(control_process, NULL, sizeof(stack_control), stack_control);
-
-
- return;
-}
-
-void NORETURN control_process(void)
-{
- Timer timer_control_process;
- int64_t desiredImpulsions[NUM_MOTORS];
- int i;
- float desiredPositions[NUM_MOTORS]={0,2*M_PI,2*M_PI,2*M_PI};
- timer_setDelay(&timer_control_process, us_to_ticks((utime_t)(control_refresh)));
- timer_setEvent(&timer_control_process);
-
- enableMotors( MOTEUR4|MOTEUR2|MOTEUR3);
- //convertRadInImpulsions(desiredPositions, desiredImpulsions);
-
-
- while(1) {
-
- timer_add(&timer_control_process);// Start process timer
- /*for(i=0;i<NUM_MOTORS;i++)
- {
- desiredPositions[i]+=0.05;
- if (desiredPositions[i]>(2*M_PI)) desiredPositions[i]=2*M_PI;
- }
- convertRadInImpulsions(desiredPositions, desiredImpulsions);*/
- //generateRampeMotor(MOTEUR4|MOTEUR2|MOTEUR3,-20*2*M_PI,10,5);
- generateRampeRobotPlan();
- controlMotors(MOTEUR4|MOTEUR2|MOTEUR3);
-
- timer_waitEvent(&timer_control_process); // Wait until the end of counting
- }
-
-
-}
-
-void refreshEncoderStatus(unsigned short encoder) {
- int i;
- int64_t difference;
- int32_t currentCounter;
- for(i=0;i<NUM_ENCODERS;i++) {
- if(encoder & (1<<i)) {
- /* Def direction*/
- encoders_status[i].direction = getEncoderDirection(def_encoders[i]);
- /* Calcul du compteur global*/
- currentCounter =(int32_t)(getEncoderCount(def_encoders[i]));
- difference = (int64_t)(currentCounter-encoders_status[i].previousCounter);
-
- if( encoders_status[i].direction == FORWARD_DIRECTION)
- {
- if(difference < 0)
- {
- difference += 65535;
- }
- }
- else if(difference > 0) difference -= 65535;
- encoders_status[i].globalCounter += difference;
- encoders_status[i].previousCounter = currentCounter;
- /* Speed Calcul*/
- }
- }
- return;
-}
-
-
-
-void controlMotors(unsigned short motor) {
-
- int64_t error;
- int32_t PWM;
- int i;
-
- //refreshEncoderStatus(ENCODER1 | ENCODER2 | ENCODER3 | ENCODER4);
- for(i=0;i<NUM_MOTORS;i++)
- {
- if(motor & (1<<i)) {
- //Conversion en de desiredImpulsions en nombre d'impulsions
-
-
- error = encoders_status[i].desiredPosition - encoders_status[i].globalCounter;
- PWM = (int32_t)(error*Kp[i]);
-
- setVelocity(1<<i, PWM);
- encoders_status[i].rampePosition+=1;
- }
- }
- holonome.asserPosition+=1;
- return;
-}
-
-int64_t convertRadInImpulsions(float actualPosition,int i ) {
- int64_t actualImpulsions;
-
- actualImpulsions = (int64_t)(actualPosition*REDUCTION*GAINENCODER*4/(2*M_PI));
-
- return actualImpulsions;
-}
-
-float convertImpulsionsInRad(int64_t actualImpulsions,int i ) {
- float actualPosition;
-
- actualPosition = (float(actualImpulsions)/(REDUCTION*GAINENCODER*4/(2*M_PI)));
-
- return actualPosition;
-}
-
-void generateRampeMotor(unsigned short motor, float thetaMax, float vmax, float a) {
- int i,k;
- //Def des variables nécessaires à la générations des rampes
- float tmax=0; //Défintion du temps final de fin de rampe
- float T = control_refresh/1000000.0; //Défintion de la période d'échantillonnage
- float t; //Défini le temps discret
- int N=0; //Nombre de points dans le vecteur de rampe
- float tvmax=vmax/a; //Temps où l'on atteint la vitesse max
- float thetaVmax=0;
- float theta;
- float t1, t2; //Temps pour les trapèzes
- float thetaDesired;
- unsigned short signe;
-
- int64_t position;
- int64_t actualPosition;
-
- for(i=0;i<NUM_MOTORS;i++) {
- if(motor & 1<<i) {
- k=encoders_status[i].rampePosition;
- if(k==0) encoders_status[i].startPosition=encoders_status[i].globalCounter;
- actualPosition=encoders_status[i].startPosition;
- thetaDesired = thetaMax - convertImpulsionsInRad(actualPosition,i);
- if(thetaDesired<0) {
- signe=1; //On désire aller à une position antérieure
- thetaDesired = - thetaDesired;
- }
-
- //Choix du profil : triangulaire ou trapézoïdal
- thetaVmax = a*tvmax*tvmax;
- if(thetaVmax>thetaDesired) {
- //On génère un profil triangulaire
- tmax = 2*sqrt(thetaDesired/a);
-
- N=(int)(floorf(tmax/T))+1;
-
- if(N*T < tmax) N+=1; //On oublie forcément le point final
- //Définition des CI et CF
- t=(float)(k)*T;
-
- if(t<=tmax/2) {
- //On est dans la première partie de la courbe
- theta=a/2*t*t;
- }
- else {
- if(t<=tmax) {
- //On est dans la deuxième partie de la coube
- theta=-a/2*t*t+a*tmax*t+a*(tmax/2)*(tmax/2)-a/2*tmax*tmax;
- }
- else {
- theta = thetaDesired;
- }
- }
-
- position=convertRadInImpulsions(theta,i);
-
- }
- else {
- //On génère un profil trapézoïdal
- t1=vmax/a;
- tmax = thetaDesired/vmax+t1;
- t2 = tmax - t1;
- N =(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1;
-
- t=k*T;
-
- if(t<=t1) {
- //On est dans la première partie de la courbe
- theta=a/2*t*t;
- }
- else {
- if(t<=t2) {
- // On est dans la deuxième partie de la courbe
- theta=a/2*t1*t1+vmax*(t-t1);
- }
- else {
- if(t<=tmax) {
- //On est dans la troisième partie de la coube
- theta=-a/2*t*t+a*tmax*(t-t2)+a/2*(t1*t1+t2*t2)+vmax*(t2-t1);
- }
- else {
- theta = thetaDesired;
- }
- }
-
- }
- position=convertRadInImpulsions(theta,i);
-
- }
-
- //On doit maintenant convertir et incrémenter vis-à-vis de la position actuelle
-
- if(signe==1) position*=-1;
- position+=actualPosition;
- encoders_status[i].desiredPosition = position;
-
- }
-
- }
- return;
-}
-
-void generateRampeRobot(void) {
- int i,k;
- //Def des variables nécessaires à la générations des rampes
- float Pmax,vmax,a;
- float P,V;
- float Pvmax,tvmax,tmax;
- float T = control_refresh/1000000.0; //Défintion de la période d'échantillonnage
- float t; //Défini le temps discret
- int N=0; //Nombre de points dans le vecteur de rampe
- float t1, t2; //Temps pour les trapèzes
- float desiredP;
- float Pstart;
- float Ti[3]={0,0,0};
- float w[3]={0,0,0};
- unsigned short signe;
-
- int64_t position;
- int64_t actualPosition;
-
- k=holonome.asserPosition;
-
-
- if(k==0) {
- holonome.Xstart = holonome.X;
- holonome.Ystart = holonome.Y;
- holonome.Tstart = holonome.T;
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- encoders_status[i].startPosition=encoders_status[i].globalCounter;
- }
- }
-
- for(i=0;i<3;i++) {
- //Récolte des données
- switch (i) {
- case 0:
- // X
- Pmax = holonome.xmax;
- vmax = holonome.vXmax;
- a = holonome.ax;
- Pstart = holonome.Xstart;
- break;
- case 1:
- // Y
- Pmax = holonome.ymax;
- vmax = holonome.vYmax;
- a = holonome.ay;
- Pstart = holonome.Ystart;
- break;
- case 2:
- // T
- Pmax = holonome.Tmax;
- vmax = holonome.vTmax;
- a = holonome.aT;
- Pstart = holonome.Tstart;
- break;
- }
- desiredP=Pmax-Pstart;
- if(desiredP<0) {
- signe = 1;
- desiredP = -desiredP;
- }
- //Choix du profil : triangulaire ou trapézoïdal
- tvmax = vmax/a;
- Pvmax = a*tvmax*tvmax;
- if(Pvmax>desiredP) {
- //On génère un profil triangulaire
- tmax = 2*sqrt(desiredP/a);
- N=(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1; //On oublie forcément le point final
- //Définition des CI et CF
- t=(float)(k)*T;
-
- if(t<=tmax/2) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=tmax) {
- //On est dans la deuxième partie de la coube
- P=-a/2*t*t+a*tmax*t+a*(tmax/2)*(tmax/2)-a/2*tmax*tmax;
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- }
- }
- }
- else {
- //On génère un profil trapézoïdal
- t1=vmax/a;
- tmax = desiredP/vmax+t1;
- t2 = tmax - t1;
- N =(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1;
-
- t=k*T;
-
- if(t<=t1) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=t2) {
- // On est dans la deuxième partie de la courbe
- P=a/2*t1*t1+vmax*(t-t1);
- V=vmax;
- }
- else {
- if(t<=tmax) {
- //On est dans la troisième partie de la coube
- P=-a/2*t*t+a*tmax*(t-t2)+a/2*(t1*t1+t2*t2)+vmax*(t2-t1);
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- }
- }
-
- }
- }
- if(signe==1) V=-V;
- switch (i) {
- case 0:
- // X
- w[0] = 0;
- Ti[0]+=0;
- w[1]=(V*sqrt(3)/2)/R;
- Ti[1] += w[1]*T;
- w[2]=-w[1];
- Ti[2] += w[2]*T;
- break;
- case 1:
- // Y
- w[0] = -V/R; // -
- Ti[0] += w[0]*T;
- w[1]= +V/(2*R); //+
- Ti[1] += w[1]*T;
- w[2]=w[1];
- Ti[2] += w[2]*T;
- break;
- case 2:
- // T
- w[0] = -V*L1/R;
- Ti[0] += w[0]*T;
- w[1]= -V*L2/R;
- Ti[1] += w[1]*T;
- w[2]=-V*L3/R;;
- Ti[2] += w[2]*T;
- break;
- }
-
-
-
-
-
- }
- for(i=0;i<NUM_MOTORS-1;i++)
- {
- Ti[i]+= holonome.Tprevious[i];
- holonome.Tprevious[i] = Ti[i];
- }
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- //Moteur i
- actualPosition = encoders_status[i].startPosition;
- position = convertRadInImpulsions(Ti[i-1],i);
-
- position+=actualPosition;
-
- encoders_status[i].desiredPosition = position;
- }
- return;
-}
-
-void generateRampeRobotPlan() {
- int i,k;
- //Def des variables nécessaires à la générations des rampes
- float xmax, ymax,vmax,a;
- float P,V;
- float xVirtuel, yVirtuel;
- float Vx, Vy, theta;
- float Pvmax,tvmax,tmax;
- float T = control_refresh/1000000.0; //Défintion de la période d'échantillonnage
- float t; //Défini le temps discret
- int N=0; //Nombre de points dans le vecteur de rampe
- float t1, t2; //Temps pour les trapèzes
- float desiredP;
- float Xstart, Ystart, thetaRobot;
- float Ti[3]={0,0,0};
- float w[3]={0,0,0};
-
- int64_t position;
- int64_t actualPosition;
-
- k=holonome.asserPosition;
-
-
- if(k==0) {
- holonome.Xstart = holonome.X;
- holonome.Ystart = holonome.Y;
- holonome.Tstart = holonome.T;
- xmax = holonome.xmax;
- ymax = holonome.ymax;
-
- Xstart = holonome.Xstart;
- Ystart = holonome.Ystart;
-
- if((ymax-Ystart)==0) {
- if((xmax-Xstart)<0) holonome.theta=M_PI;
- else holonome.theta=0;
- }
- else holonome.theta = 2*atan((ymax-Ystart)/((xmax-Xstart)+sqrt((xmax-Xstart)*(xmax-Xstart)+(ymax-Ystart)*(ymax-Ystart))));
-
- for(i=0; i<3;i++) {
- holonome.Tprevious[i]=0;
- }
-
- holonome.Pprevious = 0;
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- encoders_status[i].startPosition=encoders_status[i].globalCounter;
- }
- }
-
-
- //Récolte des données
- xmax = holonome.xmax;
- ymax = holonome.ymax;
- vmax = holonome.vitesse;
- a = holonome.acceleration;
- Xstart = holonome.Xstart;
- Ystart = holonome.Ystart;
- theta = holonome.theta;
- thetaRobot = holonome_odometry.T;
-
- desiredP=sqrt((xmax-Xstart)*(xmax-Xstart)+(ymax-Ystart)*(ymax-Ystart));
-
- //Choix du profil : triangulaire ou trapézoïdal
- tvmax = vmax/a;
- Pvmax = a*tvmax*tvmax;
- if(Pvmax>desiredP) {
- //On génère un profil triangulaire
- tmax = 2*sqrt(desiredP/a);
- N=(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1; //On oublie forcément le point final
- //Définition des CI et CF
- t=(float)(k)*T;
-
- if(t<=tmax/2) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=tmax) {
- //On est dans la deuxième partie de la coube
- P=-a/2*t*t+a*tmax*t+a*(tmax/2)*(tmax/2)-a/2*tmax*tmax;
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- holonome.busy=0;
- }
- }
- }
- else {
- //On génère un profil trapézoïdal
- t1=vmax/a;
- tmax = desiredP/vmax+t1;
- t2 = tmax - t1;
- N =(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1;
-
- t=k*T;
-
- if(t<=t1) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=t2) {
- // On est dans la deuxième partie de la courbe
- P=a/2*t1*t1+vmax*(t-t1);
- V=vmax;
- }
- else {
- if(t<=tmax) {
- //On est dans la troisième partie de la coube
- P=-a/2*t*t+a*tmax*(t-t2)+a/2*(t1*t1+t2*t2)+vmax*(t2-t1);
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- holonome.busy=0;
- }
- }
-
- }
- }
-
- Vx = V*cos(theta-thetaRobot);
- Vy = V*sin(theta-thetaRobot);
-
- //Ajout des composantes de déviations
-
- xVirtuel = cos(theta)*holonome.Pprevious;
- yVirtuel = sin(theta)*holonome.Pprevious; // dans la base de la table
-
- //holonome.Pprevious = P;
- //Vx += ((xVirtuel+Xstart-holonome_odometry.X)*cos(thetaRobot)-(yVirtuel+Ystart-holonome_odometry.Y)*sin(thetaRobot))/(5*T);
- //Vy += ((yVirtuel+Ystart-holonome_odometry.Y)*cos(thetaRobot)+(xVirtuel+Xstart-holonome_odometry.X)*sin(thetaRobot))/(5*T);
-
- w[0] = (-Vy)/R;
- w[1] = (Vx*sqrt(3)/2+Vy/2)/R;
- w[2] = (-Vx*sqrt(3)/2+Vy/2)/R;
-
-
-
- for(i=0;i<3;i++) {
- Ti[i]=w[i]*T;
- }
-
-
- for(i=0;i<NUM_MOTORS-1;i++)
- {
- Ti[i]+= holonome.Tprevious[i];
- holonome.Tprevious[i] = Ti[i];
- }
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- //Moteur i
- actualPosition = encoders_status[i].startPosition;
- position = convertRadInImpulsions(Ti[i-1],i);
-
- position+=actualPosition;
-
- encoders_status[i].desiredPosition = position;
- }
- return;
-}
-
-/*
-void generateRampeRobotPlan() {
- int i,k;
- //Def des variables nécessaires à la générations des rampes
- float xmax, ymax,vmax,a;
- float P,V;
- float Vx, Vy, theta;
- float Pvmax,tvmax,tmax;
- float T = control_refresh/1000000.0; //Défintion de la période d'échantillonnage
- float t; //Défini le temps discret
- int N=0; //Nombre de points dans le vecteur de rampe
- float t1, t2; //Temps pour les trapèzes
- float desiredP;
- float Xstart, Ystart;
- float Ti[3]={0,0,0};
- float w[3]={0,0,0};
-
- int64_t position;
- int64_t actualPosition;
-
- k=holonome.asserPosition;
-
-
- if(k==0) {
- holonome.Xstart = holonome.X;
- holonome.Ystart = holonome.Y;
- holonome.Tstart = holonome.T;
- xmax = holonome.xmax;
- ymax = holonome.ymax;
-
- Xstart = holonome.Xstart;
- Ystart = holonome.Ystart;
-
- if((ymax-Ystart)==0) {
- if((xmax-Xstart)<0) holonome.theta=M_PI;
- else holonome.theta=0;
- }
- else holonome.theta = 2*atan((ymax-Ystart)/((xmax-Xstart)+sqrt((xmax-Xstart)*(xmax-Xstart)+(ymax-Ystart)*(ymax-Ystart))));
-
- for(i=0; i<3;i++) {
- holonome.Tprevious[i]=0;
- }
-
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- encoders_status[i].startPosition=encoders_status[i].globalCounter;
- }
- }
-
-
- //Récolte des données
- xmax = holonome.xmax;
- ymax = holonome.ymax;
- vmax = holonome.vitesse;
- a = holonome.acceleration;
- Xstart = holonome.Xstart;
- Ystart = holonome.Ystart;
- theta = holonome.theta;
-
- desiredP=sqrt((xmax-Xstart)*(xmax-Xstart)+(ymax-Ystart)*(ymax-Ystart));
-
- //Choix du profil : triangulaire ou trapézoïdal
- tvmax = vmax/a;
- Pvmax = a*tvmax*tvmax;
- if(Pvmax>desiredP) {
- //On génère un profil triangulaire
- tmax = 2*sqrt(desiredP/a);
- N=(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1; //On oublie forcément le point final
- //Définition des CI et CF
- t=(float)(k)*T;
-
- if(t<=tmax/2) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=tmax) {
- //On est dans la deuxième partie de la coube
- P=-a/2*t*t+a*tmax*t+a*(tmax/2)*(tmax/2)-a/2*tmax*tmax;
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- holonome.busy=0;
- }
- }
- }
- else {
- //On génère un profil trapézoïdal
- t1=vmax/a;
- tmax = desiredP/vmax+t1;
- t2 = tmax - t1;
- N =(int)(floorf(tmax/T))+1;
- if(N*T < tmax) N+=1;
-
- t=k*T;
-
- if(t<=t1) {
- //On est dans la première partie de la courbe
- P=a/2*t*t;
- V=a*t;
- }
- else {
- if(t<=t2) {
- // On est dans la deuxième partie de la courbe
- P=a/2*t1*t1+vmax*(t-t1);
- V=vmax;
- }
- else {
- if(t<=tmax) {
- //On est dans la troisième partie de la coube
- P=-a/2*t*t+a*tmax*(t-t2)+a/2*(t1*t1+t2*t2)+vmax*(t2-t1);
- V=-a*t+a*tmax;
- }
- else {
- P = desiredP;
- V=0;
- holonome.busy=0;
- }
- }
-
- }
- }
-
- Vx = V*cos(theta);
- Vy = V*sin(theta);
-
-
- w[0] = (-Vy)/R;
- w[1] = (Vx*sqrt(3)/2+Vy/2)/R;
- w[2] = (-Vx*sqrt(3)/2+Vy/2)/R;
-
-
-
- for(i=0;i<3;i++) {
- Ti[i]=w[i]*T;
- }
-
-
- for(i=0;i<NUM_MOTORS-1;i++)
- {
- Ti[i]+= holonome.Tprevious[i];
- holonome.Tprevious[i] = Ti[i];
- }
-
- for(i=1;i<NUM_MOTORS;i++)
- {
- //Moteur i
- actualPosition = encoders_status[i].startPosition;
- position = convertRadInImpulsions(Ti[i-1],i);
-
- position+=actualPosition;
-
- encoders_status[i].desiredPosition = position;
- }
- return;
-}*/
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.h
deleted file mode 100644
index 0c01924..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/asservissement.h
+++ /dev/null
@@ -1,112 +0,0 @@
-#ifndef HEADER__ASSERVISSEMENT
-#define HEADER__ASSERVISSEMENT
-
-#include <drv/gpio_stm32.h>
-#include <drv/clock_stm32.h>
-#include "hw/hw_led.h"
-#include <drv/timer.h>
-
-#include <stdlib.h>
-
-#define NUM_ENCODERS 4
-
-#define MOTOR_CONTROL1 MOTEUR2
-#define MOTOR_CONTROL2 MOTEUR3
-#define MOTOR_CONTROL3 MOTEUR4
-
-#define NUM_MOTORS_CONTROL 3
-
-//Paramètre de l'asservissement
-
- #define control_refresh 5000
-
-//Modèle du MOTOR1
-
- #define TAU 0
- #define KP1 0.22
- #define KP2 0.22
- #define KP3 0.22
- #define KP4 0.22
-
-//Paramètres du PID du MOTOR1
-
- #define KP 100
- #define KI 0
- #define KD 0
-
-//Paramètres des moteurs
-
- #define REDUCTION 51 //51:1
-
- #define GAINENCODER2 100
- #define GAINENCODER 360
-
-//Paramètres du robot
-
- #define R 0.052
- #define L1 0.1774
- #define L2 0.1774
- #define L3 0.1774
-
-
-
-//Def d'une structure encodeur
-
-typedef struct {
-
- int64_t globalCounter; //Somme toutes les impulsions pour connaître la position de la roue
- uint8_t direction; //Indique le sens et la direction du moteur
- float speed; //Indique la vitesse du moteur
- int32_t previousCounter; //Indique la valeur précédente du compteur issu de l'hardware
- int64_t desiredPosition; //Vector contenant la rampe suivie par la roue
- int64_t startPosition;
- int rampePosition;
- unsigned short busy;
-
-} encoder_status;
-
-typedef struct {
-
- float xmax;
- float vXmax;
- float ax;
- float ymax;
- float vYmax;
- float ay;
- float Tmax;
- float vTmax;
- float aT;
- float vitesse;
- float acceleration;
- float theta;
- int asserPosition;
- float Pprevious;
-
- //Position du robot sur la table
- float X;
- float Y;
- float T;
- float Tprevious[3];
-
- float Xstart;
- float Ystart;
- float Tstart;
-
- int busy;
-
-} robot_control;
-
-robot_control holonome;
-encoder_status encoders_status[4];
-void NORETURN control_process(void);
-
-void controlInit(void);
-void refreshEncoderStatus(unsigned short encoder);
-void controlMotors(unsigned short motors);
-int64_t convertRadInImpulsions( float desiredPosition, int i);
-float convertImpulsionsInRad(int64_t actualImpulsions,int i );
-void generateRampeMotor(unsigned short motors, float finalThetaDesired, float vmax, float a);
-void generateRampeRobot(void);
-void generateRampeRobotPlan(void);
-
-#endif
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.c
deleted file mode 100644
index 41705e7..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.c
+++ /dev/null
@@ -1,187 +0,0 @@
-#include "encoder.h"
-#include "motor.h"
-#include <cfg/macros.h>
-#include <drv/gpio_stm32.h>
-#include "stm32lib/stm32f10x_tim.h"
-#include "stm32lib/stm32f10x_rcc.h"
-#include "stm32lib/stm32f10x.h"
-
-
-
-void encodersInit(void) {
-
- TIM_ICInitTypeDef TIM_ICInitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-
- // Enable clocking on GPIOA, GPIOB, GPIOC and GPIOD
- RCC->APB2ENR |= RCC_APB2_GPIOA | RCC_APB2_GPIOB | RCC_APB2_GPIOC ;
-
- /* PinOut
- Encoder 1 : A1 := PA6
- B1 := PA7
-
- Encoder 2 : A2 := PC6
- B2 := PC7
-
- Encoder 3 : A3 := PA8
- B3 := PA9
-
- Encoder 4 : A4 := PB6
- B4 := PB7*/
-
- // TIM3 (A1,B1) ; TIM8 (A2,B2) ; TIM1 (A3,B3) ; TIM4 (A4,B4)
-
- // TIMx clock enable
-
- RCC->APB1ENR |= RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4;
- RCC->APB2ENR |= RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM1;
-
- // Configuring PinOut mode
-
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOA_BASE),
- BV(6) | BV(7) | BV(8) | BV(9), GPIO_MODE_IN_FLOATING,
- GPIO_SPEED_50MHZ);
-
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOB_BASE),
- BV(6) | BV(7), GPIO_MODE_IN_FLOATING,
- GPIO_SPEED_50MHZ);
-
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOC_BASE),
- BV(6) | BV(7), GPIO_MODE_IN_FLOATING,
- GPIO_SPEED_50MHZ);
-
- // Configuring TIMx base
-
- TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
- TIM_TimeBaseStructure.TIM_Prescaler = 0;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
-
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
- TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
- TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
- TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
-
- TIM_ICStructInit(&TIM_ICInitStructure);
- TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
- TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
- TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
- TIM_ICInitStructure.TIM_ICFilter = 0x0;
-
-
-
- // Configuring chanel 1
- TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
- TIM_ICInit(TIM3, &TIM_ICInitStructure);
- TIM_ICInit(TIM8, &TIM_ICInitStructure);
- TIM_ICInit(TIM1, &TIM_ICInitStructure);
- TIM_ICInit(TIM4, &TIM_ICInitStructure);
-
- // Configuring chanel 2
- TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
- TIM_ICInit(TIM3, &TIM_ICInitStructure);
- TIM_ICInit(TIM8, &TIM_ICInitStructure);
- TIM_ICInit(TIM1, &TIM_ICInitStructure);
- TIM_ICInit(TIM4, &TIM_ICInitStructure);
-
- // Réglage de la configuration de l'encodeur : quadrature ou non
-
- TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
- TIM_EncoderInterfaceConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
- TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
- TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
-
- // Enable encoders
-
- TIM_Cmd(TIM3, ENABLE);
- TIM_Cmd(TIM8, ENABLE);
- TIM_Cmd(TIM1, ENABLE);
- TIM_Cmd(TIM4, ENABLE);
-
- resetEncoderCount(ENCODER1 | ENCODER2 | ENCODER3 | ENCODER4 );
-
- return;
-}
-
-// Obtentions des valeurs des compteurs
-uint16_t getEncoderCount(unsigned short encoder) {
- switch (encoder) {
- case ENCODER1 :
- return TIM_GetCounter(TIM3);
- break;
- case ENCODER2 :
- return TIM_GetCounter(TIM8);
- break;
- case ENCODER3 :
- return TIM_GetCounter(TIM1);
- break;
- case ENCODER4 :
- return TIM_GetCounter(TIM4);
- break;
- }
- return 0;
-}
-
-// Reset de la valeur des compteurs à O
-void resetEncoderCount(unsigned short encoders) {
-
- if(encoders & ENCODER1) {
- TIM_SetCounter(TIM3,0);
- }
-
- if(encoders & ENCODER2) {
- TIM_SetCounter(TIM8,0);
- }
-
- if(encoders & ENCODER3) {
- TIM_SetCounter(TIM1,0);
- }
-
- if(encoders & ENCODER4) {
- TIM_SetCounter(TIM4,0);
- }
-
- return;
-}
-
-uint8_t getEncoderDirection(unsigned short encoder) {
-
- uint8_t direction;
- switch (encoder) {
- case ENCODER1 :
- if ((TIM3->CR1 & TIM_CR1_DIR)!=0) {
- direction = BACKWARD_DIRECTION;
- }
- else {
- direction = FORWARD_DIRECTION;
- }
- break;
- case ENCODER2 :
- if ((TIM8->CR1 & TIM_CR1_DIR)!=0) {
- direction = BACKWARD_DIRECTION;
- }
- else {
- direction = FORWARD_DIRECTION;
- }
- break;
- case ENCODER3 :
- if ((TIM1->CR1 & TIM_CR1_DIR)!=0) {
- direction = BACKWARD_DIRECTION;
- }
- else {
- direction = FORWARD_DIRECTION;
- }
- break;
- case ENCODER4 :
- if ((TIM4->CR1 & TIM_CR1_DIR)!=0) {
- direction = BACKWARD_DIRECTION;
- }
- else {
- direction = FORWARD_DIRECTION;
- }
- break;
- }
- return direction;
-}
-
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.h
deleted file mode 100644
index 99c7be0..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/encoder.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef HEADER__ENCODER
-#define HEADER__ENCODER
-
-#include <drv/gpio_stm32.h>
-#include <drv/clock_stm32.h>
-#include "hw/hw_led.h"
-
-#define ENCODER1 1 //encoder connected to the motor 1
-#define ENCODER2 2// ...
-#define ENCODER3 4
-#define ENCODER4 8
-
-void encodersInit(void);
-
-uint16_t getEncoderCount(unsigned short encoder);
-
-void resetEncoderCount(unsigned short encoders);
-
-uint8_t getEncoderDirection(unsigned short encoder);
-
-#endif
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.c
deleted file mode 100644
index e5a10bd..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.c
+++ /dev/null
@@ -1,168 +0,0 @@
-#include "intelligence.h"
-#include "asservissement.h"
-#include "encoder.h"
-#include "motor.h"
-#include "odometry.h"
-
-#include <cfg/macros.h>
-#include <drv/gpio_stm32.h>
-#include "stm32lib/stm32f10x_tim.h"
-#include "stm32lib/stm32f10x_rcc.h"
-#include "stm32lib/stm32f10x.h"
-#include <math.h>
-
-PROC_DEFINE_STACK(stack_intelligence, KERN_MINSTACKSIZE * 4);
-
-int etape=0;
-
-void intelligenceInit(void) {
- int i;
-
- holonome.xmax=0;
- holonome.vXmax=0.25;
- holonome.ax=0.25;
- holonome.ymax=-0;
- holonome.vYmax=0.3;
- holonome.ay=0.15;
- holonome.Tmax=20*M_PI;
- holonome.vTmax=3;
- holonome.aT=0.5;
- holonome.asserPosition=0;
- holonome.X=0;
- holonome.Y=0;
- holonome.T=0;
- holonome.Xstart=0;
- holonome.Ystart=0;
- holonome.Tstart=0;
- holonome.acceleration=0;
- holonome.vitesse=0;
- holonome.busy =0;
-
- for(i=0;i<NUM_MOTORS-1;i++)
- {
- holonome.Tprevious[i]=0;
- }
-
- /* Create a new child process */
-
- proc_new(intelligence_process, NULL, sizeof(stack_intelligence), stack_intelligence);
-
-
- return;
-}
-
-void NORETURN intelligence_process(void)
-{
- Timer timer_intelligence_process;
- timer_setDelay(&timer_intelligence_process, us_to_ticks((utime_t)(intelligence_refresh)));
- timer_setEvent(&timer_intelligence_process);
-
-
-
- while(1) {
-
- timer_add(&timer_intelligence_process);// Start process timer
-
- makePath();
- timer_waitEvent(&timer_intelligence_process); // Wait until the end of counting
- }
-
-
-}
-
-void makePath(void) {
- int i;
- if(holonome.busy==0) { //On peut donc envoyer une nouvelle position
-
- holonome.X = holonome_odometry.X;
- holonome.Y = holonome_odometry.Y;
-
- //holonome.X = holonome.xmax;
- //holonome.Y = holonome.ymax;
- /*for(i=0;i<3;i++) {
- holonome.Tprevious[i]=0;
- }*/
- //holonome.asserPosition=0;
- switch(etape) {
- case 0:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = -0.5;
- holonome.ymax = 0;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 1:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = -0.5;
- holonome.ymax = 0;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 2:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = -0.5;
- holonome.ymax = -0.5;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 3:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = -0.5;
- holonome.ymax = -0.5;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 4:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = 0;
- holonome.ymax = -0.5;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 5:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = 0;
- holonome.ymax = -0.5;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 6:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = 0;
- holonome.ymax = 0;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape+=1;
- break;
- case 7:
- holonome.busy=1;
- holonome.asserPosition=0;
- holonome.xmax = 0;
- holonome.ymax = 0;
- holonome.vitesse = 0.5;
- holonome.acceleration=0.5;
- etape=0;
- break;
-
-
- }
-
-
- }
-
-
- return;
-}
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.h
deleted file mode 100644
index 42f3da2..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/intelligence.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef HEADER__INTELLIGENCE
-#define HEADER__INTELLIGENCE
-
-#include <drv/gpio_stm32.h>
-#include <drv/clock_stm32.h>
-#include "hw/hw_led.h"
-#include <drv/timer.h>
-
-#include <stdlib.h>
-
-//Paramètre de l'asservissement
-
- #define intelligence_refresh 50000
-
-void makePath(void);
-void intelligenceInit(void);
-
-void NORETURN intelligence_process(void);
-
-#endif
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.c
deleted file mode 100644
index 8cbdeb9..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.c
+++ /dev/null
@@ -1,350 +0,0 @@
-#include "motor.h"
-#include <cfg/macros.h>
-#include <drv/gpio_stm32.h>
-#include "stm32lib/stm32f10x_tim.h"
-
-/*Private variables */
-
- TIM_OCInitTypeDef TIM_OCInitStructure;
-
- unsigned short def_motors[4]={MOTEUR1, MOTEUR2, MOTEUR3, MOTEUR4};
- motor_status motors_status[4];
-
-void motorsInit(void) {
-
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-
- uint32_t SystemClock = 72000000;
- uint32_t Tim2DesiredClock = 72000000;
- uint16_t PrescalerValue = 0;
-
- int i;
-
- // Enable clocking on GPIOA, GPIOB, GPIOC and GPIOD
- RCC->APB2ENR |= RCC_APB2_GPIOA | RCC_APB2_GPIOB | RCC_APB2_GPIOC | RCC_APB2_GPIOD;
-
- // Enable clocking on TIM2
- RCC->APB1ENR |= RCC_APB1_TIM2;
- //Def I/O of motors
- //Port A
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOA_BASE),
- BV(0) | BV(1) | BV(2) | BV(3), GPIO_MODE_AF_PP,
- GPIO_SPEED_50MHZ); //TIM2 on PWM Pins
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOA_BASE),
- BV(5) | BV(10) , GPIO_MODE_OUT_PP,
- GPIO_SPEED_50MHZ);
-
- //Port B
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOB_BASE),
- BV(1) | BV(14) | BV(15) | BV(5) | BV(9), GPIO_MODE_OUT_PP,
- GPIO_SPEED_50MHZ);
-
- //Port C
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOC_BASE),
- BV(4) | BV(5) | BV(10) | BV(11) | BV(9), GPIO_MODE_OUT_PP,
- GPIO_SPEED_50MHZ);
-
- //Port D
- stm32_gpioPinConfig(((struct stm32_gpio *)GPIOD_BASE),
- BV(2), GPIO_MODE_OUT_PP,
- GPIO_SPEED_50MHZ);
-
- //Init of TIM2
-
-
- /*Calcul du Prescalar */
- PrescalerValue = (uint16_t) (SystemClock/Tim2DesiredClock)-1;
- //PrescalerValue = 0;
-
- /*Config du timer2 */
- TIM_TimeBaseStructure.TIM_Period = 3600; //Horloge : 20kHz
- TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
-
- /*Initialisation des PWMs*/
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = 0;
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
-
- /*Chanel 1*/
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OC1Init(TIM2, &TIM_OCInitStructure);
- TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
-
- /*Chanel 2*/
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OC2Init(TIM2, &TIM_OCInitStructure);
- TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
-
- /*Chanel 3*/
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OC3Init(TIM2, &TIM_OCInitStructure);
- TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
-
- /*Chanel 4*/
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OC4Init(TIM2, &TIM_OCInitStructure);
- TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
-
- TIM_ARRPreloadConfig(TIM2, ENABLE);
-
- /* TIM2 enable counter */
- TIM_Cmd(TIM2, ENABLE);
-
- /* Init motors_status*/
- for(i=0;i<NUM_MOTORS;i++)
- {
- motors_status[i].currentPWM=0;
- motors_status[i].desiredPosition=0;
- motors_status[i].currentPosition=0;
- motors_status[i].direction=0;
- motors_status[i].speed=0;
- }
-
- return;
-}
-
-void setMotors(unsigned short motors, unsigned short direction) {
- /*Def le sens de rotation des moteurs : 0 forward
- 1 backward */
- if( motors & MOTEUR1 )
- {
- switch (direction) {
- case FORWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 0);
- break;
- case BACKWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 1);
- break;
- }
- }
-
- if( motors & MOTEUR2 )
- {
- switch (direction) {
- case FORWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 0);
- break;
- case BACKWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 1);
- break;
- }
- }
-
- if( motors & MOTEUR3 )
- {
- switch (direction) {
- case FORWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 0);
- break;
- case BACKWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 1);
- break;
- }
- }
-
- if( motors & MOTEUR4 )
- {
- switch (direction) {
- case FORWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 0);
- break;
- case BACKWARD_DIRECTION :
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 1);
- break;
- }
- }
- return;
-}
-
-void enableMotors(unsigned short motors) {
- /*Active le pont H du MOTEURX */
- if( motors & MOTEUR1 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(5), 1);
- }
-
- if( motors & MOTEUR2 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(15), 1);
- }
-
- if( motors & MOTEUR3 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(10), 1);
- }
-
- if( motors & MOTEUR4 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOD_BASE), BV(2), 1);
- }
- return;
-}
-
-void disableMotors(unsigned short motors) {
- /*Active le pont H du MOTEURX */
- if( motors & MOTEUR1 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(5), 0);
- }
-
- if( motors & MOTEUR2 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(15), 0);
- }
-
- if( motors & MOTEUR3 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(10), 0);
- }
-
- if( motors & MOTEUR4 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOD_BASE), BV(2), 0);
- }
- return;
-}
-
-void setVelocity(unsigned short motors, int32_t velocity) {
-
- if(velocity > MAX_PWM) velocity=MAX_PWM;
- if(velocity < -MAX_PWM) velocity=-MAX_PWM;
-
- if( motors & MOTEUR1 )
- {
- //stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(0), 1);
- if( velocity >= 0) {
- setMotors(MOTEUR1, FORWARD_DIRECTION);
- }
- else {
- setMotors(MOTEUR1, BACKWARD_DIRECTION);
- velocity = -velocity;
- }
- if(velocity==MAX_PWM) LED1_ON();
- else LED1_OFF();
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)velocity;
- TIM_OC1Init(TIM2, &TIM_OCInitStructure);
- TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
-
- }
-
- if( motors & MOTEUR2 )
- {
- //stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(1), 1);
- if( velocity >= 0) {
- setMotors(MOTEUR2, FORWARD_DIRECTION);
- }
- else {
- setMotors(MOTEUR2, BACKWARD_DIRECTION);
- velocity = -velocity;
- }
- //if(velocity==MAX_PWM) LED2_ON();
- //else LED2_OFF();
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)velocity;
- TIM_OC2Init(TIM2, &TIM_OCInitStructure);
- TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
- }
-
- if( motors & MOTEUR3 )
- {
- //stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(2), 1);
- if( velocity >= 0) {
- setMotors(MOTEUR3, FORWARD_DIRECTION);
- }
- else {
- setMotors(MOTEUR3, BACKWARD_DIRECTION);
- velocity = -velocity;
- }
- if(velocity==MAX_PWM) LED3_ON();
- else LED3_OFF();
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)velocity;
- TIM_OC3Init(TIM2, &TIM_OCInitStructure);
- TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
- }
-
- if( motors & MOTEUR4 )
- {
- //stm32_gpioPinWrite(((struct stm32_gpio *)GPIOA_BASE), BV(3), 1);
- if( velocity >= 0) {
- setMotors(MOTEUR4, FORWARD_DIRECTION);
- }
- else {
- setMotors(MOTEUR4, BACKWARD_DIRECTION);
- velocity = -velocity;
- }
- if(velocity==MAX_PWM) LED4_ON();
- else LED4_OFF();
- TIM_OCInitStructure.TIM_Pulse = (uint16_t)velocity;
- TIM_OC4Init(TIM2, &TIM_OCInitStructure);
- TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
- }
-
- TIM_ARRPreloadConfig(TIM2, ENABLE);
- return;
-}
-
-void breakMotors(unsigned short motors) {
- if( motors & MOTEUR1 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 1);
- }
-
- if( motors & MOTEUR2 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 1);
- }
-
- if( motors & MOTEUR3 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 1);
- }
-
- if( motors & MOTEUR4 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 1);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 1);
- }
- return;
-}
-
-void freeMotors(unsigned short motors) {
- if( motors & MOTEUR1 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(4), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(5), 0);
- }
-
- if( motors & MOTEUR2 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(1), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(14), 0);
- }
-
- if( motors & MOTEUR3 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(10), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOC_BASE), BV(11), 0);
- }
-
- if( motors & MOTEUR4 )
- {
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(5), 0);
- stm32_gpioPinWrite(((struct stm32_gpio *)GPIOB_BASE), BV(9), 0);
- }
- return;
-}
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.h
deleted file mode 100644
index 8cbcf3e..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/motor.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef HEADER__MOTOR
-#define HEADER__MOTOR
-
-#include <drv/gpio_stm32.h>
-#include <drv/clock_stm32.h>
-#include "hw/hw_led.h"
-
-#include <math.h>
-
-#define NUM_MOTORS 4
-
-#define MOTEUR1 1 //Moteur à gauche de l'ascenseur vue de face
-#define MOTEUR2 2 //Moteur suivant dans le sens horaire vue de dessus
-#define MOTEUR3 4 //Moteur à droite de l'ascenseur vue de dessus
-#define MOTEUR4 8 //Moteur de l'ascenceur principal
-
-#define FORWARD_DIRECTION 0 //Incrémentation du compteur
-#define BACKWARD_DIRECTION 1 //Décrémentation du compteur
-
-#define MAX_PWM 2300
-
-//Def d'une structure moteur
-
-typedef struct {
- uint16_t currentPWM;
- float desiredPosition;
- float currentPosition;
- uint8_t direction; //Indique le sens et la direction du moteur
- float speed; //Indique la vitesse du moteur
-
-} motor_status;
-
-void motorsInit(void);
-
-//Commande des moteurs 1..4
- void setMotors(unsigned short motors, unsigned short direction);
- void enableMotors(unsigned short motors);
- void disableMotors(unsigned short motors);
- void breakMotors(unsigned short motors);
- void freeMotors(unsigned short motors);
- void setVelocity(unsigned short motors, int32_t velocity);
-
-
-#endif
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.c b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.c
deleted file mode 100644
index 0c96734..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.c
+++ /dev/null
@@ -1,132 +0,0 @@
-#include "odometry.h"
-#include "intelligence.h"
-#include "asservissement.h"
-#include "encoder.h"
-#include "motor.h"
-
-#include <cfg/macros.h>
-#include <drv/gpio_stm32.h>
-#include "stm32lib/stm32f10x_tim.h"
-#include "stm32lib/stm32f10x_rcc.h"
-#include "stm32lib/stm32f10x.h"
-#include <math.h>
-
-PROC_DEFINE_STACK(stack_odometry, KERN_MINSTACKSIZE * 4);
-
-
-void odometryInit(void) {
- int i;
-
- holonome_odometry.X=0;
- holonome_odometry.Y=0;
- holonome_odometry.T=0;
-
- for(i=0;i<NUM_MOTORS-1;i++)
- {
- holonome_odometry.previousCounter[i]=0;
- }
-
- /* Create a new child process */
-
- proc_new(odometry_process, NULL, sizeof(stack_odometry), stack_odometry);
-
-
- return;
-}
-
-void NORETURN odometry_process(void)
-{
- Timer timer_odometry_process;
- timer_setDelay(&timer_odometry_process, us_to_ticks((utime_t)(odometry_refresh)));
- timer_setEvent(&timer_odometry_process);
-
-
-
- while(1) {
-
- timer_add(&timer_odometry_process);// Start process timer
- refreshOdometry();
- timer_waitEvent(&timer_odometry_process); // Wait until the end of counting
- }
-
-
-}
-/*
-void refreshOdometry() {
- int i;
- int64_t dTheta[3];
-
-
- // Rafraichissement des encodeurs
- refreshEncoderStatus(ENCODER1 | ENCODER2 | ENCODER3 | ENCODER4);
-
- // Prise en compte de la variation d'impulsions
- for(i=0; i<NUM_MOTORS;i++) {
- if(1<<i & MOTOR_CONTROL1) {
- dTheta[0] = encoders_status[i].globalCounter - holonome_odometry.previousCounter[0];
- holonome_odometry.previousCounter[0] = encoders_status[i].globalCounter;
- }
-
- if(1<<i & MOTOR_CONTROL2) {
- dTheta[1] = encoders_status[i].globalCounter - holonome_odometry.previousCounter[1];
- holonome_odometry.previousCounter[1] = encoders_status[i].globalCounter;
- }
-
- if(1<<i & MOTOR_CONTROL3) {
- dTheta[2] = encoders_status[i].globalCounter - holonome_odometry.previousCounter[2];
- holonome_odometry.previousCounter[2] = encoders_status[i].globalCounter;
- }
- }
- // T : position angulaire
- holonome_odometry.T += -R/(3*L)*(convertImpulsionsInRad( dTheta[0]+dTheta[1]+dTheta[2],0));
- if(holonome_odometry.T >= 0.01) LED2_ON();
- else LED2_OFF();
- // Y
- holonome_odometry.Y += R/3*(convertImpulsionsInRad( -2*dTheta[0]+dTheta[1]+dTheta[2],0));
- // X
- holonome_odometry.X += R/(sqrt(3))*(convertImpulsionsInRad( dTheta[1]-dTheta[2],0));
- return;
-
-}*/
-
-void refreshOdometry() {
- int i;
- float dTheta[3];
- float X1, Y1;
-
- // Rafraichissement des encodeurs
- refreshEncoderStatus(ENCODER1 | ENCODER2 | ENCODER3 | ENCODER4);
-
- // Prise en compte de la variation d'impulsions
- for(i=0; i<NUM_MOTORS;i++) {
- if(1<<i & MOTOR_CONTROL1) {
- dTheta[0] = convertImpulsionsInRad(encoders_status[i].globalCounter,0) - convertImpulsionsInRad(holonome_odometry.previousCounter[0],0);
- holonome_odometry.previousCounter[0] = encoders_status[i].globalCounter;
- }
-
- if(1<<i & MOTOR_CONTROL2) {
- dTheta[1] = convertImpulsionsInRad(encoders_status[i].globalCounter,0) - convertImpulsionsInRad(holonome_odometry.previousCounter[1],0);
- holonome_odometry.previousCounter[1] = encoders_status[i].globalCounter;
- }
-
- if(1<<i & MOTOR_CONTROL3) {
- dTheta[2] = convertImpulsionsInRad(encoders_status[i].globalCounter,0) - convertImpulsionsInRad(holonome_odometry.previousCounter[2],0);
- holonome_odometry.previousCounter[2] = encoders_status[i].globalCounter;
- }
- }
- // T : position angulaire
- holonome_odometry.T += -R/(3)*( dTheta[0]/L1+dTheta[1]/L2+dTheta[2]/L3);
- if(abs(holonome_odometry.T) >= 0.01) LED2_ON();
- else LED2_OFF();
- X1 = R/(sqrt(3))*(dTheta[1]-dTheta[2]);
- Y1 = R/3*( -2*dTheta[0]+dTheta[1]+dTheta[2]);
-
- // Y
-
- holonome_odometry.Y += sin(holonome_odometry.T)*X1+ cos(holonome_odometry.T)*Y1;
- // X
- holonome_odometry.X += cos(holonome_odometry.T)*X1- sin(holonome_odometry.T)*Y1;
- return;
-
-}
-
diff --git a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.h b/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.h
deleted file mode 100644
index be665ba..0000000
--- a/elec/boards/Balise_IR/Carte_diodes/Firmware/controller_motor_stm32/odometry.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef HEADER__ODOMETRY
-#define HEADER__ODOMETRY
-
-#include <drv/gpio_stm32.h>
-#include <drv/clock_stm32.h>
-#include "hw/hw_led.h"
-#include <drv/timer.h>
-
-#include <stdlib.h>
-
-//Paramètre de l'asservissement
-
- #define odometry_refresh 2500
-
-typedef struct {
-
- int64_t previousCounter[3];
-
- //Position du robot sur la table
- float X;
- float Y;
- float T;
-
-
-} robot_odometry;
-
-robot_odometry holonome_odometry;
-
-
-void odometryInit(void);
-void refreshOdometry(void);
-
-void NORETURN odometry_process(void);
-
-#endif
hooks/post-receive
--
krobot
|
