131 lines
3.7 KiB
C++
131 lines
3.7 KiB
C++
//Constants
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const int MOTOR_SATURATION = round(pow(2, PWM_RESOLUTION));
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const float WHEEL_DIAMETER = 0.067708;
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const float PULSES_PER_TURN = 1320.0;
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const float BALANCE_POINT = -0.05;
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const float SPEED_REFERENCE = 0.0;
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const float DEADBAND_M1_POS = 90.0;
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const float DEADBAND_M1_NEG = 90.0;
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const float DEADBAND_M2_POS = 90.0;
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const float DEADBAND_M2_NEG = 90.0;
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//Tuning
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const float K_SC = 15.0;
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const float K_OL = 13.0;
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const float K_IL = 80.0;
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const float I_IL = 5.5;
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const float filter_gain = 15.0;
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//Help variables
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float M1_Lin_Vel, M2_Lin_Vel;
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int Speed_CMD, M1_Speed_CMD, M2_Speed_CMD;
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float ref_SC, act_SC, error_SC, SC_cont_out;
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float ref_OL, act_OL, error_OL, OL_cont_out;
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float ref_IL, act_IL, error_IL, iError_IL;
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void motors() {
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// Speed Controller
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ref_SC = SPEED_REFERENCE;
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act_SC = (M1_Lin_Vel + M2_Lin_Vel) / 2;
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error_SC = ref_SC - act_SC;
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SC_cont_out = (error_SC * K_SC);
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// Balance controller
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// Outer loop
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ref_OL = BALANCE_POINT - SC_cont_out;
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act_OL = pitch;
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error_OL = ref_OL - act_OL;
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OL_cont_out = (error_OL * K_OL);
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// Inner loop
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ref_IL = OL_cont_out;
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act_IL = pitch_rate;
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error_IL = ref_IL - act_IL;
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iError_IL = iError_IL + (error_IL * dT * pow(10, -6) * I_IL);
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Speed_CMD = round((error_IL * K_IL) + iError_IL);
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M1_Speed_CMD = Speed_CMD;
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M2_Speed_CMD = Speed_CMD;
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// M1_Speed_CMD = 0;
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// M2_Speed_CMD = 0;
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//Calculate speed from encoders
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M1_Lin_Vel = encoderReader(m1Raw, m1RawLast, M1_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT, filter_gain);
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M2_Lin_Vel = encoderReader(m2Raw, m2RawLast, M2_Lin_Vel, PULSES_PER_TURN, WHEEL_DIAMETER, dT, filter_gain);
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//Motor control
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motorControl(1, M1_Speed_CMD, MOTOR_SATURATION, DEADBAND_M1_POS, DEADBAND_M1_NEG);
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motorControl(2, M2_Speed_CMD, MOTOR_SATURATION, DEADBAND_M2_POS, DEADBAND_M2_NEG);
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// Serial plotter
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Serial.print("Balance_Point:");
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Serial.print(ref_OL);
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Serial.print(" ");
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Serial.print("Pitch_Angle:");
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Serial.print(act_OL);
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Serial.print(" ");
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Serial.print("Speed_CMD:");
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Serial.println(Speed_CMD * (100.0 / 4096.0));
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//Update variables for next scan cycle
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m1RawLast = m1Raw;
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m2RawLast = m2Raw;
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}
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float encoderReader(int encRaw, int encRawLast, float lin_vel_filtered_, float pulses_per_turn_, float wheel_diameter_, int dT_, float filt_gain_ ) {
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float dEnc_ = encRaw - encRawLast; //[Number of encoder pulses this cycle]
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float dTurn_ = dEnc_ / pulses_per_turn_; //[Amount wheel turned this cycle. 1 = full rotation]
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float lin_vel_ = (dTurn_ * wheel_diameter_ * PI) / (dT_ * 0.000001);
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return lin_vel_filtered_ + ((lin_vel_ - lin_vel_filtered_) * dT_ * 0.000001 * filt_gain_);
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}
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void motorControl(byte motorID, int speedCMD_, int saturation, float dbPos_, float dbNeg_) {
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//Calculate channel
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byte ch1 = motorID * 2 - 1;
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byte ch2 = motorID * 2;
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// Speed command saturation
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if (speedCMD_ > saturation) {
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speedCMD_ = saturation;
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}
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else if (speedCMD_ < -saturation) {
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speedCMD_ = -saturation;
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}
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//Deadband
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else if (speedCMD_ > 0 && speedCMD_ < dbPos_) {
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speedCMD_ = dbPos_;
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}
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else if (speedCMD_ < 0 && speedCMD_ > -dbNeg_) {
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speedCMD_ = -dbNeg_;
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}
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//Zero speed if input = 0
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else if (speedCMD_ == 0) {
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speedCMD_ = 0;
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}
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else {
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speedCMD_ = speedCMD_;
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}
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//Apply speed command to PWM output
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if (speedCMD_ > 0) {
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ledcWrite(ch1, 0);
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ledcWrite(ch2, speedCMD_);
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}
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else if (speedCMD_ < 0) {
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ledcWrite(ch1, -1 * speedCMD_);
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ledcWrite(ch2, 0);
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}
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}
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