aversive_10-03-12/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h File Reference

#include <control_system_manager.h>

Go to the source code of this file.

Data Structures
struct	blocking_detection
Defines
#define	BD_DEBUG   128
Functions
void	bd_init (struct blocking_detection *bd)
void	bd_set_current_thresholds (struct blocking_detection *bd, int32_t k1, int32_t k2, uint32_t i_thres, uint16_t cpt_thres)
void	bd_set_speed_threshold (struct blocking_detection *bd, uint16_t speed)
void	bd_reset (struct blocking_detection *bd)
void	bd_manage_from_cs (struct blocking_detection *bd, struct cs *cs)
void	bd_manage_from_pos_cmd (struct blocking_detection *bd, int32_t pos, int32_t cmd)
void	bd_manage_from_speed_cmd (struct blocking_detection *bd, int32_t speed, int32_t cmd)
uint8_t	bd_get (struct blocking_detection *bd)

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Define Documentation

#define BD_DEBUG   128

Definition at line 29 of file blocking_detection_manager.h.

Referenced by bd_manage_from_speed_cmd().

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Function Documentation

uint8_t bd_get

(

struct blocking_detection *

bd

)

get value of blocking detection

void bd_init

(

struct blocking_detection *

bd

)

init module, give the cs as parameter

init module, give the robot system to use as a parameter

Definition at line 32 of file blocking_detection_manager.c.

References IRQ_LOCK, and IRQ_UNLOCK.

void bd_manage_from_cs	(	struct blocking_detection *	bd,
		struct cs *	cs
	)

function to be called periodicallyn, when we use cs structure

void bd_manage_from_pos_cmd	(	struct blocking_detection *	bd,
		int32_t	pos,
		int32_t	cmd
	)

function to be called periodically, when we use values directly

void bd_manage_from_speed_cmd	(	struct blocking_detection *	bd,
		int32_t	speed,
		int32_t	cmd
	)

function to be called periodically, when we use values directly

function to be called periodically

function to be called periodically

function to be called periodically

get value of blocking detection

Definition at line 77 of file blocking_detection_manager.c.

References ABS, BD_DEBUG, blocking_detection::cpt, blocking_detection::cpt_thres, DEBUG, blocking_detection::debug_cpt, E_BLOCKING_DETECTION_MANAGER, i, blocking_detection::i_thres, blocking_detection::k1, blocking_detection::k2, blocking_detection::speed_thres, and WARNING.

void bd_reset

(

struct blocking_detection *

bd

)

reset the blocking

reset current blocking

Definition at line 66 of file blocking_detection_manager.c.

References blocking_detection::cpt, IRQ_LOCK, and IRQ_UNLOCK.

void bd_set_current_thresholds	(	struct blocking_detection *	bd,
		int32_t	k1,
		int32_t	k2,
		uint32_t	i_thres,
		uint16_t	cpt_thres
	)

thresholds for current-based blocking detection. If cpt_thres is 0, disable it.

Definition at line 41 of file blocking_detection_manager.c.

References blocking_detection::cpt, blocking_detection::cpt_thres, blocking_detection::i_thres, IRQ_LOCK, IRQ_UNLOCK, blocking_detection::k1, and blocking_detection::k2.

void bd_set_speed_threshold	(	struct blocking_detection *	bd,
		uint16_t	speed
	)

speed threshold: if speed is above it, disable blocking_detection.

Definition at line 56 of file blocking_detection_manager.c.

References IRQ_LOCK, IRQ_UNLOCK, and blocking_detection::speed_thres.