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Turn controller 

Moved encoder readers and inverse kinematic to execute first in motor
function.
Implemented turn controller.
Cleaned up speed command variables.
This commit is contained in:
Stedd 2019-12-23 03:47:50 +01:00
parent 54d2701460
commit 40ae950bb1
1 changed files with 38 additions and 61 deletions
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99
Main/motorControl.ino
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@ -4,7 +4,7 @@ const float BASE_WIDTH = 0.1837;
const float WHEEL_DIAMETER = 0.0677; const float WHEEL_DIAMETER = 0.0677;
const float PULSES_PER_TURN = 1320.0; const float PULSES_PER_TURN = 1320.0;
const float BALANCE_POINT = 0.05; const float BALANCE_POINT = 0.05;
const float SPEED_REFERENCE = 0.0; const float SPEED_REF = 0.00;
const float DEADBAND_M1_POS = 90.0; const float DEADBAND_M1_POS = 90.0;
const float DEADBAND_M1_NEG = 90.0; const float DEADBAND_M1_NEG = 90.0;
const float DEADBAND_M2_POS = 90.0; const float DEADBAND_M2_POS = 90.0;
@ -13,49 +13,42 @@ const float DEADBAND_M2_NEG = 90.0;
//Tuning //Tuning
const float K_SC = 20.0; const float K_SC = 20.0;
const float K_TC = 50.0;
const float K_OL = 13.0; const float K_OL = 13.0;
const float K_IL = 90.0; const float K_IL = 85.0;
const float I_IL = 5.5; const float I_IL = 5.25;
const float filter_gain = 15.0; const float filter_gain = 16.0;
//Help variables //Help variables
float M1_Lin_Vel, M2_Lin_Vel; int M1_Speed_CMD, M2_Speed_CMD;
float M1_Ang_Vel, M2_Ang_Vel;
float botLinVel , botAngVel ;
int Speed_CMD, M1_Speed_CMD, M2_Speed_CMD;
float ref_SC, act_SC, error_SC, SC_cont_out; float ref_SC, act_SC, error_SC, SC_cont_out;
float ref_TC, act_TC, error_TC, TC_cont_out;
float ref_OL, act_OL, error_OL, OL_cont_out; float ref_OL, act_OL, error_OL, OL_cont_out;
float ref_IL, act_IL, error_IL, iError_IL; float ref_IL, act_IL, error_IL, IL_cont_out, iError_IL;
void initMotors() { void initMotors() {
// float temp[] = {WHEEL_DIAMETER / 4, WHEEL_DIAMETER / 4, (WHEEL_DIAMETER / 2) / BASE_WIDTH, -(WHEEL_DIAMETER / 2) / BASE_WIDTH};
// int k = 0;
// for (int i = 0; i < 2; i++)
// {
// for (int j = 0; j < 2; j++)
// {
// inv_Kin[i][j] = temp[k];
// k = k + 1;
// }
// }
inv_Kin[0][0] = WHEEL_DIAMETER / 4; inv_Kin[0][0] = WHEEL_DIAMETER / 4;
inv_Kin[1][0] = (WHEEL_DIAMETER / 2) / BASE_WIDTH; inv_Kin[1][0] = (WHEEL_DIAMETER / 2) / BASE_WIDTH;
inv_Kin[0][1] = WHEEL_DIAMETER / 4; inv_Kin[0][1] = WHEEL_DIAMETER / 4;
inv_Kin[1][1] = -(WHEEL_DIAMETER / 2) / BASE_WIDTH; inv_Kin[1][1] = -(WHEEL_DIAMETER / 2) / BASE_WIDTH;
Matrix.Print((mtx_type*)inv_Kin, 2, 2, "Inverse kinematic matrix");
} }
void motors() { void motors() {
//Calculate wheel angular velocity
motor_ang_vel[0][0] = encoderReaderAngVel(m1Raw, m1RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
motor_ang_vel[1][0] = encoderReaderAngVel(m2Raw, m2RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
//Calculate robot linear and angular velocity
Matrix.Multiply((mtx_type*)inv_Kin, (mtx_type*)motor_ang_vel, 2, 2, 1, (mtx_type*)vel_Matrix);
// Speed Controller // Speed Controller
ref_SC = SPEED_REFERENCE; ref_SC = SPEED_REF;
act_SC = vel_Matrix[0][0]; act_SC = vel_Matrix[0][0];
error_SC = ref_SC - act_SC; error_SC = ref_SC - act_SC;
SC_cont_out = error_SC * K_SC; SC_cont_out = error_SC * K_SC;
@ -72,35 +65,19 @@ void motors() {
act_IL = pitch_rate; act_IL = pitch_rate;
error_IL = ref_IL - act_IL; error_IL = ref_IL - act_IL;
iError_IL = iError_IL + (error_IL * dT_s * I_IL); iError_IL = iError_IL + (error_IL * dT_s * I_IL);
Speed_CMD = round((error_IL * K_IL) + iError_IL); IL_cont_out = round((error_IL * K_IL) + iError_IL);
M1_Speed_CMD = Speed_CMD;
M2_Speed_CMD = Speed_CMD;
// M1_Speed_CMD = 500;
// M2_Speed_CMD = 500;
//Calculate speed from encoders
M1_Lin_Vel = encoderReaderLinVel(m1Raw, m1RawLast, M1_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
M2_Lin_Vel = encoderReaderLinVel(m2Raw, m2RawLast, M2_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
M1_Ang_Vel = encoderReaderAngVel(m1Raw, m1RawLast, M1_Ang_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
M2_Ang_Vel = encoderReaderAngVel(m2Raw, m2RawLast, M2_Ang_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
motor_ang_vel[0][0] = M1_Ang_Vel;
motor_ang_vel[1][0] = M2_Ang_Vel;
//void MatrixMath::Multiply(mtx_type* A, mtx_type* B, int m, int p, int n, mtx_type* C) //Turn controller
//{ ref_TC = TURN_SPEED_REF;
// A = input matrix (m x p) act_TC = vel_Matrix[0][1];
// B = input matrix (p x n) error_TC = ref_TC - act_TC;
// m = number of rows in A TC_cont_out = error_TC * K_TC;
// p = number of columns in A = number of rows in B
// n = number of columns in B
// C = output matrix = A*B (m x n)
Matrix.Multiply((mtx_type*)inv_Kin, (mtx_type*)motor_ang_vel, 2, 2, 1, (mtx_type*)vel_Matrix); //Sum speed command for motors
M1_Speed_CMD = IL_cont_out - TC_cont_out;
M2_Speed_CMD = IL_cont_out + TC_cont_out;
//Motor control //Motor control
@ -119,17 +96,17 @@ void motors() {
// Serial.println(Speed_CMD * (100.0 / 4096.0)); // Serial.println(Speed_CMD * (100.0 / 4096.0));
Serial.print("M1_Ang_Vel:"); // Serial.print("M1_Ang_Vel:");
Serial.print(M1_Ang_Vel); // Serial.print(M1_Ang_Vel);
Serial.print(" "); // Serial.print(" ");
Serial.print("M2_Ang_Vel:"); // Serial.print("M2_Ang_Vel:");
Serial.print(M2_Ang_Vel); // Serial.print(M2_Ang_Vel);
Serial.print(" "); // Serial.print(" ");
Serial.print("botLinVel:"); // Serial.print("botLinVel:");
Serial.print(vel_Matrix[0][0]); // Serial.print(vel_Matrix[0][0]);
Serial.print(" "); // Serial.print(" ");
Serial.print("botAngVel:"); // Serial.print("botAngVel:");
Serial.println(vel_Matrix[1][0]); // Serial.println(vel_Matrix[1][0]);
//Update variables for next scan cycle //Update variables for next scan cycle