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RudderMotor.cpp
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RudderMotor.cpp
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/************************************************************************/
/* */
/* P R O J E K T A V A L O N */
/* */
/* RudderMotor.cpp Class Fuctions for the Rudder Motor Class */
/* */
/* Author Stefan Wismer */
/* wismerst@student.ethz.ch */
/* */
/************************************************************************/
#include <math.h>
#include "can/can.h"
#include "epos/epos.h"
#include <rtx/getopt.h>
#include <rtx/main.h>
#include <rtx/error.h>
#include <rtx/timer.h>
#include <rtx/thread.h>
#include <rtx/message.h>
#include "avalon.h"
#include "RudderMotor.h"
////// DEBUG STUFF /////////
#define SW_DEBUG
////////////////////////////
/**
* Class functions
* */
RudderMotor::RudderMotor() {
#ifdef SW_DEBUG
printf("in constructor \n\n\n");
#endif // SW_DEBUG
}
RudderMotor::~RudderMotor()
{
emergency_stop();
can_close();
}
// Just clearing the errors and setting the operation Mode
bool RudderMotor::init(int side, const char * device) {
can_init(device);
if(epos_test_bus(1) == 0)
{
#ifdef SW_DEBUG
printf("\nEPOS seems not to be at %s\nExiting...\n\n",device);
return false;
#endif
}
int i;
if(side == AV_RUDDER_LEFT) {
i = 1;
}
else {
i = 1;
}
epos_fault_reset(i);
epos_set_output_current_limit(i, AV_MAX_RUDDER_CURRENT);
epos_set_continous_current_limit(i, AV_MAX_RUDDER_CONT_CURRENT);
epos_shutdown(i);
epos_enable_operation(i);
epos_set_mode_of_operation(i, EPOS_OPERATION_MODE_PROFILE_POSITION);
epos_shutdown(i);
epos_enable_operation(i);
epos_set_profile_acceleration(i, AV_RUDDER_ACCELERATION);
epos_set_profile_deceleration(i, AV_RUDDER_DECELERATION);
epos_set_profile_velocity(i, AV_RUDDER_SPEED);
// This is removed as following error is used to identify the epos
// epos_set_maximum_following_error(i, AV_RUDDER_MAX_FOLLOWING_ERROR);
epos_set_brake_state(i, AV_SAIL_BRAKE_OPEN);
printf("\n\nThe %d. rudder motor at %s (CAN-ID %d, serial number %d) has the following status:\n", side, device, i, obtain_serial_number(i));
epos_get_error(i);
return true;
}
int RudderMotor::obtain_serial_number(int i)
{
printf("\n\n");
printf("The serial number of EPOS at Node %d is beeing read...\n", i);
epos_get_maximum_following_error(i);
printf("following is: %d\n", epos_read.node[i-1].maximum_following_error);
return epos_read.node[i-1].maximum_following_error;
}
bool RudderMotor::conduct_homing_left(int id)
{
// Set Operation Mode and homing method
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_HOMING);
epos_set_homing_method(id, AV_HOMING_MODE_LEFT);
// Set All the Parameters
epos_set_homing_speed_switch_search(id, AV_HOMING_SWITCH_SPEED);
epos_set_homing_current_threshold(id, AV_HOMING_THRESHOLD);
epos_set_homing_speed_zero_search(id, AV_HOMING_ZERO_SPEED);
epos_set_home_position(id, AV_HOMING_POSITION);
epos_set_home_offset(id, AV_HOMING_OFFSET_LEFT);
epos_set_homing_profile_acceleration(id, AV_HOMING_ACCELERATION);
//epos_get_mode_of_operation(id);
//can_read_message();
//rtx_message("message: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n",message.id, message.content[0], message.content[1],message.content[2],message.content[3],message.content[4],message.content[5],message.content[6],message.content[7]);
// Set to Zero
epos_start_homing_operation(id);
//epos_get_mode_of_operation(id);
//rtx_message("message: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n",message.id, message.content[0], message.content[1],message.content[2],message.content[3],message.content[4],message.content[5],message.content[6],message.content[7]);
// Reset Operation Mode
epos_get_statusword(id);
while(!(epos_read.node[id-1].msg_content[5] & 0x10))
{
epos_get_statusword(id);
//rtx_message("waiting, byte: 0x%X",
//epos_read.node[id-1].msg_content[5]);
}
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_PROFILE_POSITION);
//epos_get_mode_of_operation(id);
//rtx_message("message: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n\n",message.id, message.content[0], message.content[1],message.content[2],message.content[3],message.content[4],message.content[5],message.content[6],message.content[7]);
return true;
}
bool RudderMotor::conduct_homing_right(int id)
{
// Set Operation Mode and homing method
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_HOMING);
epos_set_homing_method(id, AV_HOMING_MODE_RIGHT);
// Set All the Parameters
epos_set_homing_speed_switch_search(id, AV_HOMING_SWITCH_SPEED);
epos_set_homing_current_threshold(id, AV_HOMING_THRESHOLD);
epos_set_homing_speed_zero_search(id, AV_HOMING_ZERO_SPEED);
epos_set_home_position(id, AV_HOMING_POSITION);
epos_set_home_offset(id, AV_HOMING_OFFSET_RIGHT);
epos_set_homing_profile_acceleration(id, AV_HOMING_ACCELERATION);
// Set to Zero
epos_start_homing_operation(id);
epos_get_statusword(id);
while(!(epos_read.node[id-1].msg_content[5] & 0x10))
{
epos_get_statusword(id);
//rtx_message("waiting, byte: 0x%X", epos_read.node[id-1].msg_content[5]);
}
// Reset Operation Mode
epos_set_mode_of_operation(id, EPOS_OPERATION_MODE_PROFILE_POSITION);
//while(1)
//{ epos_get_statusword(id);
// rtx_message("status: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n",epos_read.node[id-1].msg_content[0], epos_read.node[id-1].msg_content[1], epos_read.node[id-1].msg_content[2], epos_read.node[id-1].msg_content[3], epos_read.node[id-1].msg_content[4], epos_read.node[id-1].msg_content[5], epos_read.node[id-1].msg_content[6], epos_read.node[id-1].msg_content[7]);
//}
return true;
}
bool RudderMotor::move_to_angle(int id, float degrees, float reference, int& feedback) {
if(degrees <= AV_MAX_RUDDER_ANGLE && degrees >= -AV_MAX_RUDDER_ANGLE) {
// Go to position
epos_set_target_position(id,(int)round((reference+degrees)*AV_RUDDER_TICKS_PER_DEGREE));
epos_activate_position(id);
// and get feedback
epos_get_actual_position(1);
feedback = epos_read.node[id-1].actual_position;
}
else {
rtx_message("WARNING: A Rudder angle beyond the max rudder angle has been asked for. Skipping...");
return false;
}
return true;
}
bool RudderMotor::move_to_angle(float degrees) {
int i = 1;
int dummy = 0;
float fDummy = 0;
while(i < AV_NOF_RUDDER_EPOS)
{
i++;
move_to_angle(i, degrees, fDummy, dummy);
}
return true;
}
bool RudderMotor::emergency_stop() {
rtx_message("RudderMotor-Destructor called...");
// epos_quick_stop(1);
return true;
}