diff --git a/linear_pendulum_2009/avr/Makefile b/linear_pendulum_2009/avr/Makefile
deleted file mode 100644
index 91fe37a78cda4bb5a89de1e7998ec604d9a2c05d..0000000000000000000000000000000000000000
--- a/linear_pendulum_2009/avr/Makefile
+++ /dev/null
@@ -1,81 +0,0 @@
-PROJECT=current_control
-CHIP=atmega16
-
-ARCH=avr
-AVRSOURCE=
-AVRAUTO=compiled/$(ARCH)/
-AVRARCH=compiled/$(ARCH)/
-LIB_TARGET=$(AVRARCH)lib$(TARGET).a
-
-CC=$(ARCH)-gcc
-CXX=$(ARCH)-gcc
-CCFLAGS=-mmcu=$(CHIP) -O5 -I. -I$(AVRAUTO)
-AS=$(ARCH)-as
-ASFLAGS=-mmcu=$(CHIP)
-AR=$(ARCH)-ar
-LD=$(ARCH)-ld
-OBJDUMP=$(ARCH)-objdump
-LDFLAGS= -T $(CHIP).link
-
-all: $(AVRARCH)$(PROJECT)
-
-$(LIB_TARGET)(%.o): $(AVRSOURCE)%.c Makefile
- $(CC) $(CCFLAGS) -c -o $(AVRARCH)$(%) -I$(AVRSOURCE) -I$(AVRAUTO) $(<)
- $(AR) r $(@) $(AVRARCH)$(%)
- rm $(AVRARCH)$(%)
-
-$(LIB_TARGET)(%.o): $(AVRSOURCE)%.cc Makefile
- $(CXX) $(CCFLAGS) -c -o $(AVRARCH)$(%) -I$(AVRSOURCE) -I$(AVRAUTO) $(<)
- $(AR) r $(@) $(AVRARCH)$(%)
- rm $(AVRARCH)$(%)
-
-$(LIB_TARGET)(%.o): $(AVRSOURCE)%.s Makefile
- $(AS) $(ASFLAGS) -o $(AVRARCH)$(%) $(AVRSOURCE)$(*).s
- $(AR) r $(@) $(AVRARCH)$(%)
- rm $(AVRARCH)$(%)
-
-$(AVRARCH)%.o: $(AVRSOURCE)%.s Makefile
- $(AS) $(ASFLAGS) -o $@ $(AVRSOURCE)$(*).s
-
-$(AVRARCH)%.o: $(AVRSOURCE)%.c Makefile
- $(CC) $(CCFLAGS) -c -o $@ -I. -I$(AVRAUTO) $<
-
-
-$(AVRARCH)%: $(AVRARCH)%.o Makefile
- $(CC) $(CCFLAGS) -o $@ $< -lm
-
-$(AVRARCH)%.sr: all $(AVRARCH)%
- avr-objcopy -O srec $(AVRARCH)/$(*) $@
-
-%.sr: $(AVRARCH)%.sr
- @/bin/true
-
-%.load: compiled/avr/%.sr
-# /work/andersb/atmel/uisp/uisp-0.2b/src/uisp \
-# -dno-poll -dstk200 --erase --upload if=$(AVRARCH)/$(*).sr
- uisp \
- -dprog=stk200 \
- --erase \
- --upload if=compiled/avr/$*.sr
-
-%.load.stk500: compiled/avr/%.sr
- uisp \
- -dprog=stk500 \
- --erase \
- --upload if=compiled/avr/$*.sr
-
-%.dump: all $(AVRARCH)/%
- $(OBJDUMP) -D $(AVRARCH)/$(*)
-
-$(AVRARCH)fuse.sr: fuse.s
- avr-gcc -o $(AVRARCH)fuse.o -c fuse.s
- avr-objcopy -O srec $(AVRARCH)fuse.o $(AVRARCH)fuse.sr
-
-fuse.load: $(AVRARCH)fuse.sr
- uisp \
- -dprog=stk200 \
- --erase \
- --segment=fuse \
- --upload if=compiled/avr/fuse.sr
-
-load.stk500: $(PROJECT).load.stk500
\ No newline at end of file
diff --git a/linear_pendulum_2009/avr/current_control.c b/linear_pendulum_2009/avr/current_control.c
deleted file mode 100644
index 5ea0ae3cebc2cdc0f5d1df6161b73565f3a278dc..0000000000000000000000000000000000000000
--- a/linear_pendulum_2009/avr/current_control.c
+++ /dev/null
@@ -1,422 +0,0 @@
-/*********************************************
-
- Current regulation - Aleks Ponjavic 18/09/07
- for LTH - reglerteknik
-
- Note that the voltage is actually a duty
- cycle for the PWM. The PWM is running at
- 12V with a duty cycle set by a 10bit value
-
-*********************************************/
-
-//#include <math.h> //Only include if sin will be used, takes up memory!
-#include <avr/io.h>
-#include <avr/signal.h>
-#include <avr/interrupt.h>
-
-//Main control parameters
-#define MODE 3 //1 = velocity, 2 = current, 3 = cascade, 0 = control off
-#define U_MAX 400 //Voltage saturation point
-#define U_FIXEDPOINT 3000 //Wanted current, used when MODE = 2, note this is in fixed point arithmetic 2^6
-#define U_REAL 100 //When MODE = 1, voltage used for left-right motion
-
-#define NBR_CHAN 1
-
-//Current regulation parameters
-#define KC_P 2 //Proportional constant
-#define KC_I 0 //Integral constant (currently 0 as PI_C is run as many times as PI_V integral control
- // -does not make sense when in cascade) for MODE = 2, KC_I = 5 is ok
-#define ANTI_WINDUP 10 //Anti windup constant
-
-//Current regulation variables
-volatile long v_C = 0; //Voltage
-volatile long e_C = 0; //Error
-volatile long I_C = 0; //Integral part
-volatile long a_C = 0; //Current (amperes)
-volatile long u_C = 0; //Used for anti windup
-volatile long U = 0; //= +/- U_FIXEDPOINT, used for current regulation, MODE = 2
-
-//Velocity regulation parameters
-#define V_REQ 70 //Required velocity, note the magnitude of this depends on STEP
-#define KV_P 8 //Proportional constant
-#define KV_I 2 //Integral constant
-
-//Velocity regulation variables
-volatile long v_V; //Voltage
-volatile long e_V = 5; //Error
-volatile long I_V = 0; //Integral part
-volatile long u_V = 0;
-volatile long VEL = 0; //= +/- V_REQ
-
-//Position/velocity parameters
-#define STEP 100 //Amount of steps between position measurements, used for determining velocity
-
-#define ENCODERY (PIND&(uint8_t)(1<<2)) //Positional encoder pins
-#define ENCODERX (PINB&(uint8_t)(1<<1)) //Positional encoder pins
-
-//Position/velocity variables
-volatile int positions[STEP]; //Array holding history of position at each sample
-volatile int currentPos; //Current sample
-volatile long vel = 0; //Current velocity
-volatile int oldX; //Used for positional encoders
-volatile int oldY; //Used for positional encoders
-volatile int sum; //Used for positional encoders
-volatile long pos = 0; //Current position
-
-//Sampling variables
-volatile int sendData[8]={0,7,6,5,4,3,2,1}; //Array holding data that is sent through serial port
-volatile char dataAvailable = 0; //Flag if an unhandled ADC has been completed
-volatile int nbrSampSinceLastSend = 0; //Checks if a sample has been missed and if so discards it
-volatile char logStarted = 0; //Flag
-
-volatile int dir = 0; //Direction of motion (+ = right, - = left)
-
-/* Routine used to set the red LED */
-void setLED(uint8_t on)
-{
- if (on) PORTB &= ~0x80; //Turn on
- else PORTB |= 0x80; //Turn off
-}
-
-/* Routine used to initialize the positional encoders */
-void initPos()
-{
- oldX = ENCODERX;
- oldY = ENCODERY;
-}
-
-/* Routine used to track the cart position */
-void setPos()
-{
- int newX = ENCODERX;
- int newY = ENCODERY;
- if((newX != oldX) || (newY != oldY)) //Check if any value changed
- {
- sum = (oldX<<2)+oldY+newX+(newY>>2); //Find state
- if(sum == 2 || sum == 4 || sum == 11 || sum == 13) //Predetermined values determine direction
- pos++;
- else
- pos--;
- oldX = newX;
- oldY = newY;
- }
-}
-
-/* Routine used to set the PWM duty cycle */
-void setMotorVoltage(int axis, int u)
-{
- int pwm;
-
- u >>= 1; //Taking specified 10bit value but PWM is 9bit, therefore compensate
-
- if (axis==0) //Axis determines which motor is used but currently only one motor available
- {
- if (u < 0) { //Determine direction
- pwm = -u;
- PORTC |= 0x80;
- }
- else
- {
- pwm = u;
- PORTC &= ~0x80;
- }
- if (pwm > 0x3ff) { pwm = 0x3ff; }
- OCR1B = pwm & 0x3ff; //Set PWM duty cycle
- }
-}
-
-
-/* Routine used to transmit bytes on the serial port */
-static void putchar(unsigned char ch)
-{
- while ((inp(UCSRA) & 0x20) == 0) {};
- outp(ch, UDR);
- while ((inp(UCSRA) & 0x20) == 0) {};
-}
-
-/* Routine for updating the motor voltage input with current control */
-void PI_C(long input, long ref)
-{
- //Convert adc input to current. Calculations listed in trac-wiki
- a_C = input*5-2601; //Get current
- a_C*=3; //Convert it to
- e_C = ref+a_C;
-
- v_C = KC_P*(e_C)+KC_I*I_C+60*dir; //Set voltage
-
- v_C = (v_C >> 6); //Remove fixed point arithmetic
-
- if(v_C <=U_MAX && v_C>-U_MAX) //Check for saturation
- {
- u_C = v_C;
- setLED(1); //Notify that PI is running
- }
- else
- {
- if(v_C<0) u_C=-U_MAX;
- else u_C=U_MAX;
- setLED(0);
- }
-
- if((e_C>>5)==0) //Depending on sign 0 gets rounded as 0 or -1, compensate
- I_C+= 1 + ANTI_WINDUP*(u_C-v_C);
- else
- I_C += (e_C >> 5) + ANTI_WINDUP*(u_C-v_C); //Update integral part
-
- setMotorVoltage(0,v_C); //Set voltage
-}
-
-/* Routine for updating the input for the current control with speed regulation */
-void PI_V(long input)
-{
- e_V = (VEL<<4)-(input<<4); //Calculate error
- v_V = KV_P*e_V + KV_I*I_V; //Set voltage
-
- v_V = (v_V >> 4)+60*dir; //Remove fixed point arithmetic and add friction compensation
-
- if(v_V <=U_MAX && v_V>-U_MAX) //Check for saturation
- {
- u_V = v_V;
- setLED(1); //Notify that PI is running
- }
- else
- {
- if(v_V<0) u_V=-U_MAX;
- else u_V=U_MAX;
- setLED(0); //Notify saturation
- }
-
- if((e_V>>6)==0) //Again, sign rounding compensation
- I_V++;
- else
- I_V += e_V>>6; //Update integral part
-
- if(MODE==1)setMotorVoltage(0,u_V); //Set voltage if in velocity control, otherwise cascaded current will set voltage
-}
-
-/* Interrupt service routing for handling timer 1 */
-SIGNAL(SIG_OVERFLOW1)
-{
- static long ctr1;
- static long ctr2;
- ctr1++;
-
- //Sinewave motion in steps
- if(ctr1>=3)
- {
- outp(BV(ADEN)|BV(ADSC)|BV(ADIE)|BV(ADPS2)|BV(ADPS1)|BV(ADPS0),ADCSR); //Request ADC
-
- ctr2++;
- if(ctr2>=8000) //Delay between direction switch
- {
- //Right-left motion
- if(dir==-1)
- {
- if(MODE) //Check that control is on
- {
- U = -U_FIXEDPOINT; //Set required current (in fixed point arithmetic)
- VEL = -V_REQ; //Set required velocity
- I_C = 0; //Reset integral part
- I_V = 0; //Reset integral part
- }
- else
- {
- setMotorVoltage(0,-U_REAL); //If no control simply set voltage to required value
- }
- dir = 1; //Change direction
- }
- else
- {
- if(MODE) //Repeat of previous if statement but in reverse direction
- {
- U = U_FIXEDPOINT;
- VEL = V_REQ;
- I_C = 0;
- I_V = 0;
- }
- else
- {
- setMotorVoltage(0,U_REAL);
- }
- dir = -1;
- }
- ctr2=0; //Reset counter
- }
- ctr1=0; //Reset counter
- }
-}
-
-/* Not currently in use but necessary to catch interrupt on timer0 overflow */
-SIGNAL(SIG_OVERFLOW0)
-{
- static int ctr0;
- ctr0++;
- if (ctr0>=10)
- {
- //putchar('O');
- ctr0 = 0;
- }
-}
-
-/* Interrupt service routine for handling ADC interrupts */
-SIGNAL(SIG_ADC)
-{
- static int ctrA;
- unsigned char lbyte,hbyte;
- ctrA++;
-
- lbyte = inp(ADCL); //Get ADC result low byte
- hbyte = inp(ADCH); //Get ADC result high byte
- if (ctrA>=1)
- {
- if (logStarted == 1)
- {
- cli();
- dataAvailable = 1; //Flag data being available
- nbrSampSinceLastSend++; //Increase samples since last send
- sendData[0] = (int)((hbyte<<8)+lbyte); //Store result in data array
- sei();
- }
- else
- {
- dataAvailable = 1;
- sendData[0] = (int)((hbyte<<8)+lbyte);
- }
- ctrA = 0;
- }
-}
-
-
-/* Interrupt service routine for handling incoming bytes on the serial port */
-SIGNAL(SIG_UART_RECV)
-{
- char ch = inp(UDR); //Read input
- cli();
- logStarted = 1; //Flag log started
- sei();
-}
-
-/* Interrupt service routine for timer 0; Not in use */
-/*SIGNAL(SIG_OVERFLOW0)
-{
- static int ctr0;
- ctr0++;
- if (ctr0>=10)
- {
- //putchar('O');
- ctr0 = 0;
- }
-}*/
-
-int main()
-{
- int i,j; //Used for for loops
-
- //Port directions
- outp(0x80,PORTB); // LED off
- outp(0x80,DDRB); // output on LED
- outp(0x0c,PORTC); // pull up on overtemp signals
- outp(0xf0,DDRC); // output on dir and brake
- outp(0x80,PORTD); // pull up on reset switch
- outp(0x30,DDRD); // output on pwm1&2
-
- //Counters
- outp(BV(TOIE0)|BV(TOIE1),TIMSK);// Enable TCNT0 and TCNT1 overflow interrupts
- outp(0x00,TCNT0); // Reset TCNT0, CLK/1024
- outp(0x00,TCNT1H); // Reset TCNT1 high, CLK/512
- outp(0x00,TCNT1L); // Reset TCNT1 low, CLK/512
- outp(BV(CS02)|BV(CS00), TCCR0); // 1024
-
- //Serial communication
- outp(0x00, UCSRA); // USART:
- outp(0x98, UCSRB); // USART: RxIntEnable|RxEnable|TxEnable
- outp(0x86, UCSRC); // USART: 8bit, no parity
- outp(0x00, UBRRH); // USART: 115200 @ 14.7456MHz
- outp(7, UBRRL); // USART: 115200 @ 14.7456MHz
-
- // Timer 1 (PWM) 14.7456MHz/1/512 -> 28.8kHz
- // PWM needs to run at 1/512 in order to avoid vibration excitation
- // OC1A & OC1B 9 bit fast PWM, active high
- outp(BV(COM1A1)|BV(COM1B1)|BV(WGM11),TCCR1A);
- outp(BV(WGM12)|BV(CS10),TCCR1B); // No prescaler, or /1...
-
- outp(BV(REFS0)|BV(MUX0),ADMUX); //AREF (AREF is 5V) pin external capacitor, MUX0 for current, MUX3 for pendulum angle
-
- // Enable ADC interrupts, CLK/128
- outp(BV(ADEN)|BV(ADSC)|BV(ADIE)|BV(ADPS2)|BV(ADPS1)|BV(ADPS0),ADCSR);
-
- unsigned int data[8]={1,2,3,4,5,6,7,8}; //Reset data array
-
- /* Wait a little bit, probably not needed...*/
- int tmp;
- for(i=0;i<2000;i++)
- for(j=0;j<400;j++)
- tmp = j*j*j;
-
- //Initialize encoder
- initPos();
-
- //Intialize velocity
- for(j=0;j<STEP;j++)
- positions[j]=0;
- currentPos = STEP;
-
- sei(); //Enable interrupts
- for(;;)
- {
- //Update positional encoder
- setPos();
-
- if(dataAvailable && !logStarted)
- {
- dataAvailable = 0; //Reset flag
-
- //Update velocity
- vel = pos - positions[(currentPos+1)<STEP ? currentPos+1 : 0]; //Determine velocity
- positions[currentPos]=pos; //Update position array
- currentPos++; //Update current sample
- if(currentPos>=STEP)
- currentPos-=STEP; //If overflow, loop around
-
- if(MODE==1||MODE==3)PI_V(vel); //Velocity or cascade control
- if(MODE==3)PI_C(sendData[0], u_V<<6); //Cascade control, voltage is put in fixed point arithmetic
- if(MODE==2)PI_C(sendData[0], U); //Velocity control
- }
-
- while(logStarted==1 && dataAvailable==1)
- {
- cli(); // Enter critical section: disable interrupts
-
- for(i=0;i<NBR_CHAN;i++)
- {
- data[i] = (unsigned int)sendData[i]; //Store data locally
- }
- //Update velocity
- vel = pos - positions[(currentPos+1)<STEP ? currentPos+1 : 0]; //Determine velocity
- positions[currentPos]=pos; //Update position array
- currentPos++; //Update current sample
- if(currentPos>=STEP)
- currentPos-=STEP; //If overflow, loop around
-
- data[2] = (unsigned int)vel; //Parameter that can be sent through SerialLogger
-
- if (nbrSampSinceLastSend>1)
- data[0] = 0; //Check if sample was missed
-
- dataAvailable = 0; //Reset flag
- nbrSampSinceLastSend = 0;
- sei(); // Exit critical section: enable interrupts
-
- if(MODE==1||MODE==3)PI_V(vel); //Velocity or cascade control
- if(MODE==3)PI_C(sendData[0], u_V<<6); //Cascade control, voltage is put in fixed point arithmetic
- if(MODE==2)PI_C(sendData[0], U); //Velocity control
-
- // Transmit data
- for(i=0;i<NBR_CHAN;i++)
- {
- putchar((unsigned char)((data[i+2]&0xff00)>>8)); //Low byte
- putchar((unsigned char)((data[i+2]&0x00ff))); //High byte
- }
- }
- }
-}