root / forklift / code / forklift.c @ 21bf5ee1
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1 | a52b0259 | Tom Mullins | /*
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2 | * ARM -> us
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3 | * -height setpoint
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4 | *
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5 | * us -> ARM
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6 | * -tracking ID (same for all forklifts)
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7 | * -serial number (unique to each forklift)
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8 | * -current height
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9 | * -current height setpoint
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10 | * -payload weight
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11 | *
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12 | */
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13 | |||
14 | #include "twi.h" |
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15 | 0bd4bb32 | Tom Mullins | #include "analog.h" |
16 | #include "motor.h" |
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17 | #include <avr/io.h> |
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18 | #include <avr/interrupt.h> |
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19 | a52b0259 | Tom Mullins | |
20 | #define TRACKING_ID 0x41 |
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21 | #define SERIAL_NUMBER 0x12 |
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22 | |||
23 | // indicies for forklift internal data
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24 | 0bd4bb32 | Tom Mullins | #define FORKLIFT_TRACKING_ID 0 |
25 | #define FORKLIFT_SERIAL_NUMBER 1 |
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26 | #define FORKLIFT_HEIGHT 2 |
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27 | #define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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28 | #define FORKLIFT_LINE_POS 4 |
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29 | #define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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30 | beea48aa | Tom Mullins | #define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
31 | #define FORKLIFT_LINE_VALS_START 7 |
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32 | #define FORKLIFT_LINE_VALS_END 12 // non-inclusive |
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33 | a52b0259 | Tom Mullins | |
34 | beea48aa | Tom Mullins | #define FORKLIFT_DATA_LEN 12 |
35 | 0bd4bb32 | Tom Mullins | |
36 | |||
37 | #define PROP(X,Y,Z) (((X)*(Y))/(Z))
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38 | a52b0259 | Tom Mullins | |
39 | uint8_t internal_index = 0;
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40 | uint8_t internal_data[] = { |
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41 | TRACKING_ID, |
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42 | SERIAL_NUMBER, |
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43 | 0,
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44 | 0,
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45 | 0bd4bb32 | Tom Mullins | 0,
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46 | 0,
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47 | beea48aa | Tom Mullins | 150, // default line threshold |
48 | 0,
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49 | 0,
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50 | 0,
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51 | 0,
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52 | 0
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53 | a52b0259 | Tom Mullins | }; |
54 | 0bd4bb32 | Tom Mullins | int error;
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55 | int i_term;
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56 | |||
57 | |||
58 | void init_int0(void) |
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59 | { |
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60 | TCCR0B = (1<<CS02)|(1<<CS00); //Timer clock = system clock / 1024 |
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61 | TIFR0 = 1<<TOV0; //Clear TOV0 clear pending interrupts |
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62 | TIMSK0 = 1<<TOIE0; //Enable Timer0 Overflow Interrupt |
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63 | |||
64 | } |
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65 | a52b0259 | Tom Mullins | void slave_rx(uint8_t* data, int len) |
66 | { |
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67 | if (len > 0 && data[0] < FORKLIFT_DATA_LEN) |
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68 | { |
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69 | internal_index = data[0];
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70 | 0bd4bb32 | Tom Mullins | if (len > 1) |
71 | 21bf5ee1 | Tom Mullins | { |
72 | if (internal_index == FORKLIFT_HEIGHT_SETPOINT)
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73 | 0bd4bb32 | Tom Mullins | internal_data[internal_index] = data[1];
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74 | else if (internal_index == FORKLIFT_LINE_THRESH_HIGH) |
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75 | 21bf5ee1 | Tom Mullins | { |
76 | internal_data[internal_index] = data[1];
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77 | line_set_threshold_high(data[1]);
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78 | } |
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79 | 0bd4bb32 | Tom Mullins | else if (internal_index == FORKLIFT_LINE_THRESH_LOW) |
80 | 21bf5ee1 | Tom Mullins | { |
81 | internal_data[internal_index] = data[1];
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82 | line_set_threshold_low(data[1]);
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83 | } |
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84 | } |
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85 | a52b0259 | Tom Mullins | } |
86 | } |
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87 | |||
88 | void slave_tx(void) |
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89 | { |
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90 | twi_transmit(&internal_data[internal_index], 1);
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91 | internal_index++; |
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92 | if (internal_index >= FORKLIFT_DATA_LEN)
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93 | internal_index = 0;
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94 | 0bd4bb32 | Tom Mullins | } |
95 | |||
96 | int clamp(int min, int max, int val) |
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97 | { |
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98 | 21bf5ee1 | Tom Mullins | if (val > max) return max; |
99 | if (val < min) return min; |
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100 | return val;
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101 | 0bd4bb32 | Tom Mullins | } |
102 | |||
103 | SIGNAL(TIMER0_OVF_vect) |
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104 | 21bf5ee1 | Tom Mullins | { |
105 | // TODO make this more easily tunable (despite integer limitations)
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106 | int height = (int)internal_data[FORKLIFT_HEIGHT]; |
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107 | error = (int)internal_data[FORKLIFT_HEIGHT_SETPOINT] - height;
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108 | i_term = i_term + error/10;
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109 | int speed = clamp(-127, 127, i_term/10 + (error*2)/5); |
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110 | if (height < 10 && speed < 0) speed = 0; |
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111 | if (height > 245 && speed > 0) speed = 0; |
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112 | set_motor(speed); |
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113 | 0bd4bb32 | Tom Mullins | } |
114 | a52b0259 | Tom Mullins | |
115 | int main()
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116 | 0bd4bb32 | Tom Mullins | { |
117 | beea48aa | Tom Mullins | int i;
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118 | 0bd4bb32 | Tom Mullins | error = 0;
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119 | i_term = 0;
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120 | init_int0(); |
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121 | sei(); |
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122 | a52b0259 | Tom Mullins | twi_attachSlaveRxEvent(slave_rx); |
123 | twi_attachSlaveTxEvent(slave_tx); |
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124 | 0bd4bb32 | Tom Mullins | twi_setAddress(TRACKING_ID); |
125 | twi_init(); |
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126 | analog_init(); |
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127 | motor_init(); |
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128 | a52b0259 | Tom Mullins | while (1) |
129 | 0bd4bb32 | Tom Mullins | { |
130 | beea48aa | Tom Mullins | for (i = 0; i < 5; i++) |
131 | 21bf5ee1 | Tom Mullins | internal_data[i + FORKLIFT_LINE_VALS_START] = line_read(i) >> 2;
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132 | internal_data[FORKLIFT_LINE_POS] = line_read_pos(); |
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133 | beea48aa | Tom Mullins | internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT) >> 2;
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134 | a52b0259 | Tom Mullins | } |
135 | return 0; |
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136 | } |