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Commit 6dcea292 authored by Jeroen Vreeken's avatar Jeroen Vreeken
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Add arithmetic functions to the control file language. 

We can now use gear ratios. This makes parameters much more readable.
parent 3a38ef44
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controller/controller/controller_load_parser.l
View file @ 6dcea292
......@@ -43,11 +43,11 @@ comment "/*".*"*/"
number [0-9]+
hexdigit [0-9a-fA-F]
doublesimple [+-]?{number}"."{number}
doubleexp [+-]?{number}"."?{number}?"e"[+-]*{number}
doublesimple {number}"."{number}
doubleexp {number}"."?{number}?"e"[+-]*{number}
double {doublesimple}|{doubleexp}
int [+-]?{number}+
int {number}+
unsignedlong ("0x"|"0X"){hexdigit}{5,}
......@@ -63,6 +63,10 @@ boolcast "("[ \t]*"bool"[ \t]*")"
"(" { return PARENTHESESOPENSYM; }
")" { return PARENTHESESCLOSESYM; }
"," { return COMMASYM; }
"*" { return STARSYM; }
"/" { return SLASHSYM; }
"+" { return PLUSSYM; }
"-" { return MINSYM; }
"frequency" { return FREQUENCYSYM; }
"blocks" { return BLOCKSSYM; }
......
controller/controller/controller_load_parser.y
View file @ 6dcea292
......@@ -56,8 +56,6 @@ void yyerror(yyscan_t *scanner, char const *s);
%token PARAMSSYM
%token PARENTHESESOPENSYM
%token PARENTHESESCLOSESYM
%token FLOATCASTSYM
%token DOUBLECASTSYM
%token INTCASTSYM
%token BOOLCASTSYM
%token INCLUDESYM
......@@ -65,6 +63,16 @@ void yyerror(yyscan_t *scanner, char const *s);
%token FUNC_DEG2RAD_SYM
%token FUNC_RPM2RADS_SYM
%left DUMMY_DOUBLEVAR
%left DUMMY_INTVAR
%left FLOATCASTSYM DOUBLECASTSYM
%left MINSYM
%left PLUSSYM
%left SLASHSYM
%left STARSYM
%left UMINUS
%union
{
char *string;
......@@ -74,7 +82,7 @@ void yyerror(yyscan_t *scanner, char const *s);
}
%type <dbl> doublevar
%type <dbl> doublevar_casteable
%type <dbl> double_castable
%type <integer> intvar
%type <ul> unsignedlongvar
......@@ -148,9 +156,9 @@ varlist : /* varlist may be emtpy */
var : STRINGSYM
{ controller_load_var_add_str($1, scanner); }
| doublevar
| doublevar %prec DUMMY_DOUBLEVAR
{ controller_load_var_add_dbl($1, scanner); }
| intvar
| intvar %prec DUMMY_INTVAR
{ controller_load_var_add_int($1, scanner); }
| unsignedlongvar
{ controller_load_var_add_ul($1, scanner); }
......@@ -164,37 +172,50 @@ floatlist: floatlistvar
| floatlistvar COMMASYM floatlist
;
floatlistvar: doublevar
{ controller_load_var_add_flt($1, scanner); }
floatlistvar: double_castable
{ controller_load_var_add_flt($1, scanner); }
;
double_castable: doublevar
{ $$ = $1; }
| intvar
{ controller_load_var_add_flt($1, scanner); }
{ $$ = $1; }
| unsignedlongvar
{ controller_load_var_add_flt($1, scanner); }
{ $$ = $1; }
;
doublevar: DOUBLESYM
{ $$ = $1; }
| DOUBLECASTSYM doublevar_casteable
| DOUBLECASTSYM doublevar
{ $$ = $2; }
| FLOATCASTSYM doublevar
{ $$ = $2; }
| FLOATCASTSYM doublevar_casteable
| DOUBLECASTSYM intvar
{ $$ = $2; }
| FLOATCASTSYM intvar
{ $$ = $2; }
| doublevar MINSYM doublevar
{ $$ = ($1) - ($3); }
| doublevar PLUSSYM doublevar
{ $$ = ($1) + ($3); }
| doublevar SLASHSYM doublevar
{ $$ = ($1) / ($3); }
| doublevar STARSYM doublevar
{ $$ = ($1) * ($3); }
| deg2rad
{ $$ = $1; }
| rpm2rads
{ $$ = $1; }
| MINSYM doublevar %prec UMINUS
{ $$ = - $2 }
;
doublevar_casteable: doublevar
{ $$ = $1 }
| intvar
{ $$ = $1; }
;
deg2rad: FUNC_DEG2RAD_SYM PARENTHESESOPENSYM doublevar_casteable PARENTHESESCLOSESYM
deg2rad: FUNC_DEG2RAD_SYM PARENTHESESOPENSYM double_castable PARENTHESESCLOSESYM
{ $$ = ($3) * M_PI / 180.0; }
;
rpm2rads: FUNC_RPM2RADS_SYM PARENTHESESOPENSYM doublevar_casteable PARENTHESESCLOSESYM
rpm2rads: FUNC_RPM2RADS_SYM PARENTHESESOPENSYM double_castable PARENTHESESCLOSESYM
{ $$ = ($3) * 2.0 * M_PI / 60.0; }
;
......@@ -206,6 +227,8 @@ intvar: INTSYM
{ $$ = $1; }
| BOOLCASTSYM intvar
{ $$ = $2; }
| MINSYM intvar %prec UMINUS
{ $$ = - $2 }
;
unsignedlongvar: UNSIGNEDLONGSYM
......
controller/dt_ctrl.ctrl
View file @ 6dcea292
......@@ -225,7 +225,7 @@ params {
# maximum speed and position clients input is checked against
{ "azimuth_spg", "max_x", (float) deg2rad(270) }
{ "azimuth_spg", "min_x", (float) deg2rad(-270) }
{ "azimuth_spg", "max_v", (float) rpm2rads(0.14) }
{ "azimuth_spg", "max_v", (float) rpm2rads(2100)/15006.75 }
# acceleration and jerk we use to generate a profile
{ "azimuth_spg", "max_a", (float) 0.0002 }
{ "azimuth_spg", "max_j", (float) 0.00001 }
......@@ -236,7 +236,7 @@ params {
# maximum values within we allow normal operation
{ "azimuth_servo_state", "max_x", (float) deg2rad(270) }
{ "azimuth_servo_state", "min_x", (float) deg2rad(-270) }
{ "azimuth_servo_state", "max_v", (float) rpm2rads(0.14) }
{ "azimuth_servo_state", "max_v", (float) rpm2rads(2100)/15006.75 }
{ "azimuth_servo_state", "max_a", (float) 0.0002 }
# controller factors
{ "azimuth_pid", "kp", (float) 0.20 }
......@@ -261,14 +261,14 @@ params {
{ "azimuth_pid_limit", "offset", (float) 0.0006981317007977318308 }
{ "azimuth_pid_limit", "gain", (float)-0.3 }
# speed limit on spg + pid just before we send it to the drive
{ "azimuth_speed_limit", "min", (float) rpm2rads(-0.1999) }
{ "azimuth_speed_limit", "max", (float) rpm2rads(0.1999) }
{ "azimuth_speed_limit", "min", (float) rpm2rads(-3000)/15006.75 }
{ "azimuth_speed_limit", "max", (float) rpm2rads(3000)/15006.75 }
# gear ratio between DT and servodrive
{ "azimuth_speed_servo", "gain", (float)-15006.75 }
# torque we allow the servodrive to actuate on the DT
{ "azimuth_torque", "value", (float) 10.0 }
# inverse gear ratio between DT and servodrive
{ "azimuth_position_gain", "gain", (float)-6.663668016059439919e-05 }
{ "azimuth_position_gain", "gain", (float)-1/15006.75 }
# callibration value for position
{ "azimuth_position_offset","value", (float) 0.0 }
......@@ -286,8 +286,8 @@ params {
# we do not start in recovery mode
{ "azimuth_safety", "recover", (int) 0 }
{ "elevation_input_matrix", "constants", (float) { 1.115993583036897538e-05, -1.115993583036897538e-05 },
(float) { 2.231987166073795076e-05, 2.231987166073795076e-05 } }
{ "elevation_input_matrix", "constants", (float) { 0.5/44803.125, -0.5/44803.125 },
(float) { 1.0/44803.125, 1.0/44803.125 } }
{ "elevation_output_matrix", "constants", (float) { 44803.125, 22401.5625 },
(float) { -44803.125, 22401.5625 } }
......@@ -296,7 +296,7 @@ params {
{ "elevation_spg", "t", (float) 0.004 }
{ "elevation_spg", "max_x", (float) deg2rad(90) }
{ "elevation_spg", "min_x", (float) deg2rad(-0.05) }
{ "elevation_spg", "max_v", (float) rpm2rads(0.047) }
{ "elevation_spg", "max_v", (float) rpm2rads(2100)/44803.125 }
{ "elevation_spg", "max_a", (float) 0.0003 }
{ "elevation_spg", "max_j", (float) 0.000016 }
{ "elevation_spg", "precision_x", (float) 0.000001 }
......@@ -304,7 +304,7 @@ params {
{ "elevation_spg", "precision_v", (float) 0.000001 }
{ "elevation_servo_state", "max_x", (float) deg2rad(90) }
{ "elevation_servo_state", "min_x", (float) deg2rad(-0.05) }
{ "elevation_servo_state", "max_v", (float) rpm2rads(0.047) }
{ "elevation_servo_state", "max_v", (float) rpm2rads(2100)/44803.125 }
{ "elevation_servo_state", "max_a", (float) 0.0003 }
{ "elevation_torsion_spg", "setpoint", (float) 0.0 }
{ "elevation_torsion_spg", "t", (float) 0.004 }
......
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