Revision 86196a57
Tested the forklift and tuned the PI a little
| forklift/code/forklift.c | ||
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| 12 | 12 |
*/ |
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#include "twi.h" |
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#include "analog.h"
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#include "motor.h"
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#include <avr/io.h>
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#include "analog.h" |
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#include "motor.h" |
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#define TRACKING_ID 0x41 |
| ... | ... | |
| 25 | 25 |
#define FORKLIFT_SERIAL_NUMBER 1 |
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#define FORKLIFT_HEIGHT 2 |
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#define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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#define FORKLIFT_LINE_POS 4
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#define FORKLIFT_LINE_THRESH_HIGH 5 // r/w
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#define FORKLIFT_LINE_THRESH_LOW 6 // r/w
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#define FORKLIFT_LINE_VALS_START 7
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#define FORKLIFT_LINE_POS 4 |
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#define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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#define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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#define FORKLIFT_LINE_VALS_START 7 |
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#define FORKLIFT_LINE_VALS_END 12 // non-inclusive |
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#define FORKLIFT_DATA_LEN 12 |
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#define PROP(X,Y,Z) (((X)*(Y))/(Z)) |
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#define FORKLIFT_DATA_LEN 12 |
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uint8_t internal_index = 0; |
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uint8_t internal_data[] = {
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TRACKING_ID, |
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SERIAL_NUMBER, |
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0, |
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100, // default height setpoint |
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0, |
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0, |
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150, // default line threshold |
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0, |
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0, |
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0, |
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0, |
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0, |
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0, |
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150, // default line threshold |
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0, |
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0, |
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0, |
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0, |
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0 |
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}; |
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int error; |
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int i_term;
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void init_int0(void)
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{
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TCCR0B = (1<<CS02)|(1<<CS00); //Timer clock = system clock / 1024
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TIFR0 = 1<<TOV0; //Clear TOV0 clear pending interrupts
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TIMSK0 = 1<<TOIE0; //Enable Timer0 Overflow Interrupt
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int error;
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int i_term; |
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void init_int0(void) |
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{
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TCCR0B = (1<<CS02)|(1<<CS00); //Timer clock = system clock / 1024 |
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TIFR0 = 1<<TOV0; //Clear TOV0 clear pending interrupts |
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TIMSK0 = 1<<TOIE0; //Enable Timer0 Overflow Interrupt |
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} |
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void slave_rx(uint8_t* data, int len) |
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{
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if (len > 0 && data[0] < FORKLIFT_DATA_LEN) |
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{
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internal_index = data[0]; |
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if (len > 1) |
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{
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if (internal_index == FORKLIFT_HEIGHT_SETPOINT) |
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internal_data[internal_index] = data[1]; |
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else if (internal_index == FORKLIFT_LINE_THRESH_HIGH) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_high(data[1]); |
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} |
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else if (internal_index == FORKLIFT_LINE_THRESH_LOW) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_low(data[1]); |
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} |
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if (len > 1) |
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{
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if (internal_index == FORKLIFT_HEIGHT_SETPOINT) {
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internal_data[internal_index] = data[1]; |
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i_term = 0; |
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} |
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else if (internal_index == FORKLIFT_LINE_THRESH_HIGH) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_high(data[1]); |
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} |
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else if (internal_index == FORKLIFT_LINE_THRESH_LOW) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_low(data[1]); |
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} |
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} |
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} |
| 86 | 85 |
} |
| ... | ... | |
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internal_index++; |
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if (internal_index >= FORKLIFT_DATA_LEN) |
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internal_index = 0; |
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}
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int clamp(int min, int max, int val)
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{
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if (val > max) return max;
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if (val < min) return min;
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return val;
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}
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SIGNAL(TIMER0_OVF_vect)
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} |
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int clamp(int min, int max, int val) |
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{
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if (val > max) return max; |
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if (val < min) return min; |
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return val; |
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} |
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SIGNAL(TIMER0_OVF_vect) |
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{
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// TODO make this more easily tunable (despite integer limitations) |
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int height = (int)internal_data[FORKLIFT_HEIGHT];
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error = (int)internal_data[FORKLIFT_HEIGHT_SETPOINT] - height;
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i_term = i_term + error/10;
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int speed = clamp(-127, 127, i_term/10 + (error*2)/5);
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if (height < 10 && speed < 0) speed = 0;
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if (height > 245 && speed > 0) speed = 0;
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set_motor(speed);
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}
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int height = (int)internal_data[FORKLIFT_HEIGHT]; |
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error = (int)internal_data[FORKLIFT_HEIGHT_SETPOINT] - height; |
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i_term = i_term + error/4;
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int speed = clamp(-127, 127, i_term/12 + error*4);
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if (height < 15 && speed < 0) speed = 0;
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if (height > 240 && speed > 0) speed = 0;
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set_motor(speed); |
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} |
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int main() |
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{
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int i;
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error = 0;
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i_term = 0;
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init_int0();
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{
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int i; |
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error = 0; |
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i_term = 0; |
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init_int0(); |
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sei(); |
| 122 | 121 |
twi_attachSlaveRxEvent(slave_rx); |
| 123 | 122 |
twi_attachSlaveTxEvent(slave_tx); |
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twi_setAddress(TRACKING_ID);
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twi_setAddress(TRACKING_ID); |
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twi_init(); |
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analog_init();
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analog_init(); |
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motor_init(); |
| 128 | 127 |
while (1) |
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{
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for (i = 0; i < 5; i++)
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internal_data[i + FORKLIFT_LINE_VALS_START] = line_read(i) >> 2;
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{
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for (i = 0; i < 5; i++) |
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internal_data[i + FORKLIFT_LINE_VALS_START] = line_read(i) >> 2; |
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internal_data[FORKLIFT_LINE_POS] = line_read_pos(); |
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internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT) >> 2;
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internal_data[FORKLIFT_HEIGHT] = 255 - (analog_read(ADC_HEIGHT) >> 2);
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| 134 | 133 |
} |
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return 0; |
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} |
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