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kleiax
2023-10-12 08:43:33 +02:00
parent a43e2db92b
commit 61a95e4601
5 changed files with 133 additions and 105 deletions
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.vscode/settings.json
Vendored
+2
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@@ -128,6 +128,7 @@
"carr", "carr",
"CIPO", "CIPO",
"COPI", "COPI",
"Dutycycle",
"gast", "gast",
"GNSS", "GNSS",
"GPGGA", "GPGGA",
@@ -148,6 +149,7 @@
"Soln", "Soln",
"TPMOBIL", "TPMOBIL",
"UBLOX", "UBLOX",
"wheelspeed",
"ZLPJ" "ZLPJ"
], ],
"cmake.configureOnOpen": false "cmake.configureOnOpen": false
doc/TODO allgemein.txt
-1
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@@ -33,7 +33,6 @@ Do later:
Do now: Do now:
Code: Code:
Doxygen Kommentare aktualisieren Doxygen Kommentare aktualisieren
magic numbers etc
Fernbedienung! Fernbedienung!
Latex: Latex:
include/config.h
+25 -10
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@@ -1,7 +1,7 @@
/** /**
* @file config.h * @file config.h
* @author Alexander Klein (alex@kleiax.de) * @author Alexander Klein (alex@kleiax.de)
* @brief Some defines to configere the project. * @brief Some defines to configure the project.
* @version 0.1 * @version 0.1
* @date 2022-02-15 * @date 2022-02-15
* *
@@ -11,7 +11,12 @@
#pragma once #pragma once
namespace PinNumbers { /**
* @brief The numbers of pins to be used
*
*/
namespace PinNumbers
{
constexpr uint8_t spiCopi = 16; constexpr uint8_t spiCopi = 16;
constexpr uint8_t spiCipo = 4; constexpr uint8_t spiCipo = 4;
constexpr uint8_t spiSck = 5; constexpr uint8_t spiSck = 5;
@@ -20,24 +25,31 @@ namespace PinNumbers {
constexpr uint8_t scl = 19; constexpr uint8_t scl = 19;
constexpr uint8_t battery = 35; constexpr uint8_t battery = 35;
namespace LeftMotor { namespace LeftMotor
{
constexpr uint8_t dir1 = 27; constexpr uint8_t dir1 = 27;
constexpr uint8_t dir2 = 12; constexpr uint8_t dir2 = 12;
constexpr uint8_t pwm = 13; constexpr uint8_t pwm = 13;
constexpr uint8_t encoder = 32; constexpr uint8_t encoder = 32;
constexpr uint8_t pmwChannel = 0; constexpr uint8_t pmwChannel = 0;
} }
namespace RightMotor { namespace RightMotor
{
constexpr uint8_t dir1 = 14; constexpr uint8_t dir1 = 14;
constexpr uint8_t dir2 = 23; constexpr uint8_t dir2 = 23;
constexpr uint8_t pwm = 22; constexpr uint8_t pwm = 22;
constexpr uint8_t encoder = 33; constexpr uint8_t encoder = 33;
constexpr uint8_t pmwChannel = 1; constexpr uint8_t pmwChannel = 1;
} }
} }
namespace Settings { /**
* @brief Default values for different components
*
*/
namespace Settings
{
constexpr uint32_t baudRate = 115200; constexpr uint32_t baudRate = 115200;
constexpr uint32_t i2cSpeed = 400000; constexpr uint32_t i2cSpeed = 400000;
@@ -45,14 +57,17 @@ namespace Settings {
constexpr float wheelDistance = 0.255; constexpr float wheelDistance = 0.255;
constexpr uint16_t encoderSteps = 384; constexpr uint16_t encoderSteps = 384;
namespace Pid { namespace Pid
namespace Left { {
namespace Left
{
constexpr uint8_t P = 5; constexpr uint8_t P = 5;
constexpr uint8_t I = 0; constexpr uint8_t I = 0;
constexpr uint8_t D = 0; constexpr uint8_t D = 0;
} }
namespace Right { namespace Right
{
constexpr uint8_t P = 5; constexpr uint8_t P = 5;
constexpr uint8_t I = 0; constexpr uint8_t I = 0;
constexpr uint8_t D = 0; constexpr uint8_t D = 0;
include/moveControl.h
+50 -38
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@@ -22,6 +22,11 @@
#include "debugTimes.h" #include "debugTimes.h"
#include "component.h" #include "component.h"
/**
* @brief A struct to easy set the speed
*
*/
struct DrivingSpeeds { struct DrivingSpeeds {
double x; double x;
double rot; double rot;
@@ -41,6 +46,11 @@ class MoveControl : public Component {
* @brief used to set driving status * @brief used to set driving status
* *
* When set to stop all motors are set to halt * When set to stop all motors are set to halt
* When set to Raw the PIDs are not used. The target
* values must be given withe @see setRawPowerLeft and
* @see setRawPowerRight.
*
* Drive is the normal working mode.
* *
*/ */
enum Status {Stop, enum Status {Stop,
@@ -52,7 +62,7 @@ class MoveControl : public Component {
* @brief Construct a new Move Control object * @brief Construct a new Move Control object
* *
* Initialize the motors, encoders and PIDs with given * Initialize the motors, encoders and PIDs with given
* values in moveControlConfig.h * values in config.h
*/ */
MoveControl(); MoveControl();
@@ -66,6 +76,9 @@ class MoveControl : public Component {
/** /**
* @brief Set the Status * @brief Set the Status
* *
* Control if this component should work normally or with
* raw values for the motors.
*
* @see Status * @see Status
* @param status * @param status
*/ */
@@ -87,29 +100,39 @@ class MoveControl : public Component {
void setSpeed(double speed); void setSpeed(double speed);
/** /**
* @brief Set the rotationspeed * @brief Set the rotationSpeed
* *
* If the given rotationspeed is close to zero, then the * If the given rotationSpeed is close to zero, then the
* target rotationspeed is set to zero. * target rotationSpeed is set to zero.
* @param speed rad/s * @param speed rad/s
*/ */
void setRotationSpeed(double speed); void setRotationSpeed(double speed);
/**
* @brief Set the speeds
*
* This function is a combination of @see setSpeed and
* @see setRotationSpeed. The struct @see DrivingSpeeds
* is used for this.
*
* @param drivingSpeeds
*/
void setSpeeds(DrivingSpeeds drivingSpeeds); void setSpeeds(DrivingSpeeds drivingSpeeds);
/** /**
* @brief Set Raw Power Left * @brief Set raw power left
* *
* This value has only an effect if Status is raw. * This value has only an effect if the status is raw.
* @see setDrivingStatus
* *
* @param power between -100 and 100 * @param power between -100 and 100
*/ */
void setRawPowerLeft(int16_t power); void setRawPowerLeft(int16_t power);
/** /**
* @brief Set the Raw Power Right * @brief Set the raw power right
* *
* This value has only an effect if Status is raw. * This value has only an effect if status is raw.
* *
* @param power between -100 and 100 * @param power between -100 and 100
*/ */
@@ -119,9 +142,9 @@ class MoveControl : public Component {
* @brief Set the pid tunings * @brief Set the pid tunings
* *
* @param side 0 -> left, 1 -> right * @param side 0 -> left, 1 -> right
* @param p * @param pPart
* @param i * @param iPart
* @param d * @param dPart
*/ */
void setPidTunings(uint8_t side, double pPart, double iPart, double dPart); void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
@@ -133,22 +156,11 @@ class MoveControl : public Component {
*/ */
PID* getPID(uint8_t side) const; PID* getPID(uint8_t side) const;
/** Speedometer* getSpeedometerLeft() const { return this->leftSpeedometer; }
* @brief Get the Speedometer Left object Speedometer* getSpeedometerRight() const { return this->rightSpeedometer; }
*
* @return Speedometer*
*/
Speedometer* getSpeedometerLeft() const { return this->left_speedometer; }
/** uint16_t getDutycycleLeft() const { return this->leftMotor->getDutycycle(); }
* @brief Get the Speedometer Right object uint16_t getDutycycleRight() const { return this->rightMotor->getDutycycle(); }
*
* @return Speedometer*
*/
Speedometer* getSpeedometerRight() const { return this->right_speedometer; }
uint16_t getDutycycleLeft() const { return this->left_motor->getDutycycle(); }
uint16_t getDutycycleRight() const { return this->right_motor->getDutycycle(); }
private: private:
void run() override; void run() override;
@@ -157,22 +169,22 @@ class MoveControl : public Component {
void regulateMotors(); void regulateMotors();
void updateCurrentWheelSpeed(); void updateCurrentWheelSpeed();
MotorControl *left_motor; MotorControl *leftMotor;
MotorControl *right_motor; MotorControl *rightMotor;
Speedometer *left_speedometer; Speedometer *leftSpeedometer;
Speedometer *right_speedometer; Speedometer *rightSpeedometer;
PID *left_pid; PID *leftPid;
PID *right_pid; PID *rightPid;
Status driving_status = Status::Stop; Status driving_status = Status::Stop;
DrivingSpeeds drivingSpeeds = {0, 0}; DrivingSpeeds drivingSpeeds = {0, 0};
double wheelspeed_left_target = 0; double wheelspeedLeftTarget = 0;
double wheelspeed_right_target = 0; double wheelspeedRightTarget = 0;
double wheelspeed_left = 0; double wheelspeedLeft = 0;
double wheelspeed_right = 0; double wheelspeedRight = 0;
double left_pid_out = 0; double leftPidOut = 0;
double right_pid_out = 0; double rightPidOut = 0;
uint8_t overTimeCounter = 0; uint8_t overTimeCounter = 0;
uint8_t overTimeMax = 100; uint8_t overTimeMax = 100;
src/moveControl.cpp
+54 -54
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@@ -12,53 +12,53 @@
MoveControl::MoveControl() MoveControl::MoveControl()
: Component(MoveControl::loopDelay), : Component(MoveControl::loopDelay),
left_motor{new MotorControl()}, leftMotor{new MotorControl()},
right_motor{new MotorControl()}, rightMotor{new MotorControl()},
left_speedometer{new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)}, leftSpeedometer{new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
right_speedometer{new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)}, rightSpeedometer{new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps)},
left_pid{new PID(&this->wheelspeed_left, leftPid{new PID(&this->wheelspeedLeft,
&this->left_pid_out, &this->leftPidOut,
&this->wheelspeed_left_target, &this->wheelspeedLeftTarget,
Settings::Pid::Left::P, Settings::Pid::Left::P,
Settings::Pid::Left::I, Settings::Pid::Left::I,
Settings::Pid::Left::D, Settings::Pid::Left::D,
DIRECT)}, DIRECT)},
right_pid{new PID(&this->wheelspeed_right, rightPid{new PID(&this->wheelspeedRight,
&this->right_pid_out, &this->rightPidOut,
&this->wheelspeed_right_target, &this->wheelspeedRightTarget,
Settings::Pid::Right::P, Settings::Pid::Right::P,
Settings::Pid::Right::I, Settings::Pid::Right::I,
Settings::Pid::Right::D, Settings::Pid::Right::D,
DIRECT)} DIRECT)}
{ {
this->left_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax); this->leftPid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->left_pid->SetSampleTime(Settings::Pid::sampleTime); this->leftPid->SetSampleTime(Settings::Pid::sampleTime);
this->left_pid->SetMode(AUTOMATIC); this->leftPid->SetMode(AUTOMATIC);
this->right_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax); this->rightPid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->right_pid->SetSampleTime(Settings::Pid::sampleTime); this->rightPid->SetSampleTime(Settings::Pid::sampleTime);
this->right_pid->SetMode(AUTOMATIC); this->rightPid->SetMode(AUTOMATIC);
this->left_motor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2); this->leftMotor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2);
this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2); this->rightMotor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
this->addChildComponent(this->left_motor); this->addChildComponent(this->leftMotor);
this->addChildComponent(this->right_motor); this->addChildComponent(this->rightMotor);
this->addChildComponent(this->left_speedometer); this->addChildComponent(this->leftSpeedometer);
this->addChildComponent(this->right_speedometer); this->addChildComponent(this->rightSpeedometer);
} }
MoveControl::~MoveControl() MoveControl::~MoveControl()
{ {
this->left_motor->emergencyStop(); this->leftMotor->emergencyStop();
this->right_motor->emergencyStop(); this->rightMotor->emergencyStop();
delete this->left_motor; delete this->leftMotor;
delete this->right_motor; delete this->rightMotor;
delete this->left_speedometer; delete this->leftSpeedometer;
delete this->right_speedometer; delete this->rightSpeedometer;
delete this->left_pid; delete this->leftPid;
delete this->right_pid; delete this->rightPid;
} }
void MoveControl::run() void MoveControl::run()
@@ -66,8 +66,8 @@ void MoveControl::run()
this->updateCurrentWheelSpeed(); this->updateCurrentWheelSpeed();
this->calcTargetWheelSpeed(); this->calcTargetWheelSpeed();
this->right_pid->Compute(); this->rightPid->Compute();
this->left_pid->Compute(); this->leftPid->Compute();
this->regulateMotors(); this->regulateMotors();
} }
@@ -100,8 +100,8 @@ void MoveControl::setDrivingStatus(Status status)
void MoveControl::emergencyStop() void MoveControl::emergencyStop()
{ {
this->left_motor->emergencyStop(); this->leftMotor->emergencyStop();
this->right_motor->emergencyStop(); this->rightMotor->emergencyStop();
this->setSpeed(0); this->setSpeed(0);
this->setRotationSpeed(0); this->setRotationSpeed(0);
this->setRawPowerLeft(0); this->setRawPowerLeft(0);
@@ -158,11 +158,11 @@ void MoveControl::setPidTunings(uint8_t side, double pPart, double iPart, double
PID *selectedPID = nullptr; PID *selectedPID = nullptr;
if (side == 0) if (side == 0)
{ {
selectedPID = this->left_pid; selectedPID = this->leftPid;
} }
else if (side == 1) else if (side == 1)
{ {
selectedPID = this->right_pid; selectedPID = this->rightPid;
} }
selectedPID->SetTunings(pPart, iPart, dPart); selectedPID->SetTunings(pPart, iPart, dPart);
@@ -172,11 +172,11 @@ PID *MoveControl::getPID(uint8_t side) const
{ {
if (side == 0) if (side == 0)
{ {
return this->left_pid; return this->leftPid;
} }
if (side == 1) if (side == 1)
{ {
return this->right_pid; return this->rightPid;
} }
return nullptr; return nullptr;
} }
@@ -208,8 +208,8 @@ void MoveControl::calcTargetWheelSpeed()
// (1 / r) * b // (1 / r) * b
constexpr double B1rb = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2); constexpr double B1rb = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2);
this->wheelspeed_right_target = (A1r1 * this->drivingSpeeds.x + B1rb * this->drivingSpeeds.rot); this->wheelspeedRightTarget = (A1r1 * this->drivingSpeeds.x + B1rb * this->drivingSpeeds.rot);
this->wheelspeed_left_target = (A1r1 * this->drivingSpeeds.x + (-B1rb) * this->drivingSpeeds.rot); this->wheelspeedLeftTarget = (A1r1 * this->drivingSpeeds.x + (-B1rb) * this->drivingSpeeds.rot);
} }
void MoveControl::regulateMotors() void MoveControl::regulateMotors()
@@ -217,24 +217,24 @@ void MoveControl::regulateMotors()
switch (this->driving_status) switch (this->driving_status)
{ {
case Status::Stop: case Status::Stop:
this->left_motor->setTargetPower(0); this->leftMotor->setTargetPower(0);
this->right_motor->setTargetPower(0); this->rightMotor->setTargetPower(0);
this->setSpeedometerDirection(this->left_speedometer, 0); this->setSpeedometerDirection(this->leftSpeedometer, 0);
this->setSpeedometerDirection(this->right_speedometer, 0); this->setSpeedometerDirection(this->rightSpeedometer, 0);
break; break;
case Status::Drive: case Status::Drive:
this->left_motor->setTargetPower(static_cast<int8_t>(this->left_pid_out)); this->leftMotor->setTargetPower(static_cast<int8_t>(this->leftPidOut));
this->right_motor->setTargetPower(static_cast<int8_t>(this->right_pid_out)); this->rightMotor->setTargetPower(static_cast<int8_t>(this->rightPidOut));
this->setSpeedometerDirection(this->left_speedometer, this->left_motor->getPower()); this->setSpeedometerDirection(this->leftSpeedometer, this->leftMotor->getPower());
this->setSpeedometerDirection(this->right_speedometer, this->right_motor->getPower()); this->setSpeedometerDirection(this->rightSpeedometer, this->rightMotor->getPower());
break; break;
case Status::Raw: case Status::Raw:
this->left_motor->setTargetPower(this->rawPowerLeft); this->leftMotor->setTargetPower(this->rawPowerLeft);
this->right_motor->setTargetPower(this->rawPowerRight); this->rightMotor->setTargetPower(this->rawPowerRight);
this->setSpeedometerDirection(this->left_speedometer, this->rawPowerLeft); this->setSpeedometerDirection(this->leftSpeedometer, this->rawPowerLeft);
this->setSpeedometerDirection(this->right_speedometer, this->rawPowerRight); this->setSpeedometerDirection(this->rightSpeedometer, this->rawPowerRight);
break; break;
default: default:
@@ -245,6 +245,6 @@ void MoveControl::regulateMotors()
void MoveControl::updateCurrentWheelSpeed() void MoveControl::updateCurrentWheelSpeed()
{ {
this->wheelspeed_left = this->left_speedometer->getSpeedRad(); this->wheelspeedLeft = this->leftSpeedometer->getSpeedRad();
this->wheelspeed_right = this->right_speedometer->getSpeedRad(); this->wheelspeedRight = this->rightSpeedometer->getSpeedRad();
} }