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