velocity working?
```
y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0 \
&& y cmd 125 restart
y pub --period=0.1 \
10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'
```
This commit is contained in:
parent
67609d7b31
commit
b0047fbde2
@ -3,3 +3,12 @@ create `compile_commands.json`:
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´´´
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pio run -t compiledb
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´´´
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# Tuning
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```
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y rl 125, | y rb
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y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0 && y cmd 125 restart
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y pub --period=0.1 \
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10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \
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50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}'
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```
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3
fw/src/.clang-format
Normal file
3
fw/src/.clang-format
Normal file
@ -0,0 +1,3 @@
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Language: Cpp
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BasedOnStyle: google
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ColumnLimit: 120
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132
fw/src/main.cpp
132
fw/src/main.cpp
@ -1,8 +1,9 @@
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// #include <Preferences.h>
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#include <cmath>
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#include "encoders/abs_inc_combine/AbsIncCombineSensor.h"
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#include "esp32-hal.h"
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#include <cmath>
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#define NODE_NAME "N17BLDC"
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#define VERSION_MAJOR 0
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@ -12,7 +13,6 @@
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#include "Arduino.h"
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#include "pin_def.h"
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#define USE_USBSERIAL
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#ifdef USE_USBSERIAL
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#include "USB.h"
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@ -26,36 +26,29 @@ USBCDC usbserial;
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#endif
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// #define Serial Serial
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#include "canard.c"
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#include <SPI.h>
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#include "canard.c"
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#include "udral_servo.hpp"
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#define spi_dev SPI
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// #include "Wire.h"
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#include <SimpleFOC.h>
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#include "SimpleFOCDrivers.h"
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#include "encoders/calibrated/CalibratedSensor.h"
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#include "encoders/abs_inc_combine/AbsIncCombineSensor.h"
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#include "encoders/as5047/MagneticSensorAS5047.h"
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#include "encoders/calibrated/CalibratedSensor.h"
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// #include "encoders/esp32hwencoder/ESP32HWEncoder.h"
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#include "DRV8323S.hpp"
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#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
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#include "DRV8323S.hpp"
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#include "HybridStepperMotor.h"
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#include "esp32-hal-adc.h"
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#include "esp32-hal-gpio.h"
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#include "udral_servo.hpp"
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#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
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#define TEMP(v0, b, rt, r1, vdd) \
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((1.0 / \
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((1.0 / 298.15) + ((1.0 / b) * log((v0 * r1) / (rt * (vdd - v0)))))) - \
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273.15)
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#define temp_pcb \
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(TEMP(analogRead(TERMISTOR_PCB) * 3.3 / 4096.0, 3435.0, 10000.0, 10000.0, \
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3.3))
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#define TEMP(v0, b, rt, r1, vdd) ((1.0 / ((1.0 / 298.15) + ((1.0 / b) * log((v0 * r1) / (rt * (vdd - v0)))))) - 273.15)
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#define temp_pcb (TEMP(analogRead(TERMISTOR_PCB) * 3.3 / 4096.0, 3435.0, 10000.0, 10000.0, 3.3))
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#define vdrive_read (analogRead(VSENSE_PIN) * 20.08f / 845)
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//* 20.8f/ 21033.75)
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@ -74,6 +67,7 @@ USBCDC usbserial;
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#endif
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const int voltage_lpf = 50;
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const float max_voltage_limit = 6;
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// ESP32HWEncoder encoder =
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// ESP32HWEncoder(ENC_A, ENC_B, 4096 / 4); // The Index pin can be omitted
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@ -83,8 +77,9 @@ Encoder encoder(ENC_A, ENC_B, 4096 / 4, 0);
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AbsIncCombineSensor abs_inc_sensor(encoder, encoder_absolute);
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float encoder_calibration_lut[90];
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CalibratedSensor encoder_calibrated(encoder_absolute, sizeof(encoder_calibration_lut) /
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sizeof(encoder_calibration_lut[0]), encoder_calibration_lut);
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CalibratedSensor encoder_calibrated(encoder_absolute,
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sizeof(encoder_calibration_lut) / sizeof(encoder_calibration_lut[0]),
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encoder_calibration_lut);
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// MagneticSensorAS5600 encoder = MagneticSensorAS5600(0x36);
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#ifdef MOTOR
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@ -129,14 +124,32 @@ void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t val2) {
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SemaphoreHandle_t mutex;
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struct UdralServoState servo_state = {0};
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static bool init_done = false;
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void mutexed_state_sync(UdralServoState *const state, const float hz) {
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xSemaphoreTake(mutex, portMAX_DELAY);
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if (!init_done) {
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init_done = true;
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state->pid_position.value.count = 3;
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state->pid_position.value.elements[0] = motor.P_angle.P;
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state->pid_position.value.elements[1] = motor.P_angle.I;
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state->pid_position.value.elements[2] = motor.P_angle.D;
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state->pid_velocity.value.count = 7;
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state->pid_velocity.value.elements[0] = motor.PID_velocity.P;
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state->pid_velocity.value.elements[1] = motor.PID_velocity.I;
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state->pid_velocity.value.elements[2] = motor.PID_velocity.D;
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state->pid_velocity.value.elements[3] = motor.LPF_velocity.Tf;
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state->pid_velocity.value.elements[4] = motor.PID_velocity.output_ramp;
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state->pid_velocity.value.elements[5] = motor.PID_velocity.limit;
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motor.motion_downsample = state->pid_velocity.value.elements[6] = 0;
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}
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servo_state.target_force = state->target_force;
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servo_state.target_acceleration = state->target_acceleration;
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servo_state.target_velocity = state->target_velocity;
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servo_state.target_position = state->target_position;
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servo_state.arming = state->arming;
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servo_state.pid = state->pid;
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servo_state.pid_position = state->pid_position;
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servo_state.pid_velocity = state->pid_velocity;
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float curr_angle = servo_state.curr_position;
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static float curr_angle_last = curr_angle;
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@ -144,7 +157,7 @@ void mutexed_state_sync(UdralServoState *const state, const float hz) {
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curr_angle_last = curr_angle;
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static float curr_vel_last = curr_vel;
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float curr_accel =(curr_vel - curr_vel_last) * hz;
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float curr_accel = (curr_vel - curr_vel_last) * hz;
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curr_vel_last = curr_vel;
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servo_state.curr_acceleration = curr_accel;
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@ -166,8 +179,7 @@ void setup() {
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#ifdef USE_USBSERIAL
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Serial.begin();
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USB.begin();
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Serial.setDebugOutput(
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true); // sends all log_e(), log_i() messages to USB HW CDC
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Serial.setDebugOutput(true); // sends all log_e(), log_i() messages to USB HW CDC
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Serial.setTxTimeoutMs(0);
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#else
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Serial.begin(460800, SERIAL_8N1, 44, 43);
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@ -195,7 +207,7 @@ void setup() {
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pinMode(SPI_MISO, INPUT_PULLUP);
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SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
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//SPI.setFrequency(100000);
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// SPI.setFrequency(100000);
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// initialise magnetic sensor hardware
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encoder.pullup = Pullup::USE_INTERN;
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encoder.init();
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@ -217,7 +229,7 @@ void setup() {
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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motor.voltage_sensor_align = 4;
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motor.voltage_limit = 6;
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motor.voltage_limit = max_voltage_limit;
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// motor.controller = MotionControlType::velocity_openloop;
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// motor.controller = MotionControlType::velocity;
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motor.controller = MotionControlType::torque;
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@ -239,18 +251,14 @@ void setup() {
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const char *sensor_direction_str = "enc_dir_str";
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const int settle_time_ms = 150;
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if (!pref.isKey(encoder_calibration_lut_str) ||
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pref.getBytesLength(encoder_calibration_lut_str) !=
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sizeof(encoder_calibration_lut)) {
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pref.getBytesLength(encoder_calibration_lut_str) != sizeof(encoder_calibration_lut)) {
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encoder_calibrated.calibrate(motor, settle_time_ms);
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pref.putBytes(encoder_calibration_lut_str,
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&encoder_calibration_lut[0],
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sizeof(encoder_calibration_lut));
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pref.putBytes(encoder_calibration_lut_str, &encoder_calibration_lut[0], sizeof(encoder_calibration_lut));
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pref.putFloat(zero_electric_angle_str, motor.zero_electric_angle);
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pref.putInt(sensor_direction_str, (int)motor.sensor_direction);
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} else {
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pref.getBytes(encoder_calibration_lut_str, &encoder_calibration_lut[0],
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sizeof(encoder_calibration_lut));
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pref.getBytes(encoder_calibration_lut_str, &encoder_calibration_lut[0], sizeof(encoder_calibration_lut));
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Serial.println("Skipping calibration");
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}
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@ -284,6 +292,10 @@ void setup() {
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int i = 0;
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void loop() {
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#ifdef MOTOR
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while (!init_done) {
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delay(10);
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}
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bool armed = false;
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/* adc reading */
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@ -292,17 +304,67 @@ void loop() {
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xSemaphoreTake(mutex, portMAX_DELAY);
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armed = servo_state.arming.armed;
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float target = servo_state.target_force;
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float target;
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if (!std::isnan(servo_state.target_position)) {
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if (motor.controller != MotionControlType::angle) {
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motor.controller = MotionControlType::angle;
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Serial.println("MotionControlType::angle");
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}
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target = servo_state.target_position;
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motor.velocity_limit = std::isnan(servo_state.target_velocity) ? 10000 : servo_state.target_velocity;
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motor.voltage_limit = std::isnan(servo_state.target_force)
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? max_voltage_limit
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: std::min(max_voltage_limit, std::abs(servo_state.target_force));
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} else if (!std::isnan(servo_state.target_velocity)) {
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if (motor.controller != MotionControlType::velocity) {
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motor.controller = MotionControlType::velocity;
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Serial.println("MotionControlType::velocity");
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}
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target = servo_state.target_velocity;
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motor.voltage_limit = std::isnan(servo_state.target_force)
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? max_voltage_limit
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: std::min(max_voltage_limit, std::abs(servo_state.target_force));
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} else {
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motor.voltage_limit = std::isnan(servo_state.target_force)
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? max_voltage_limit
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: std::min(max_voltage_limit, std::abs(servo_state.target_force));
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target = servo_state.target_force;
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if (motor.controller != MotionControlType::torque) {
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motor.controller = MotionControlType::torque;
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Serial.printf("MotionControlType::torque %f\n", target);
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}
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}
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servo_state.controller_temperature = curr_pcb_temp_kelvin;
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servo_state.motor_temperature = NAN;
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float curr_angle = encoder_calibrated.getAngle();
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servo_state.curr_position = curr_angle;
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servo_state.curr_force = servo_state.target_force;
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servo_state.curr_force = motor.voltage.d;
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servo_state.vcc_volts = drv8323s.focdriver->voltage_power_supply;
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servo_state.current = NAN;
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servo_state.current = motor.current.d;
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motor.PID_velocity.P = servo_state.pid_velocity.value.count <= 0 ? 0 : servo_state.pid_velocity.value.elements[0];
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motor.PID_velocity.I = servo_state.pid_velocity.value.count <= 1 ? 0 : servo_state.pid_velocity.value.elements[1];
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motor.PID_velocity.D = servo_state.pid_velocity.value.count <= 2 ? 0 : servo_state.pid_velocity.value.elements[2];
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motor.LPF_velocity.Tf = servo_state.pid_velocity.value.count <= 3 ? 0.01 : servo_state.pid_velocity.value.elements[3];
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motor.PID_velocity.output_ramp =
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servo_state.pid_velocity.value.count <= 4 ? 300 : servo_state.pid_velocity.value.elements[4];
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motor.PID_velocity.limit =
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servo_state.pid_velocity.value.count <= 5 ? 1000 : servo_state.pid_velocity.value.elements[5];
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motor.motion_downsample = servo_state.pid_velocity.value.count <= 6 ? 0 : servo_state.pid_velocity.value.elements[6];
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motor.P_angle.P = servo_state.pid_position.value.count <= 0 ? 0 : servo_state.pid_position.value.elements[0];
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motor.P_angle.I = servo_state.pid_position.value.count <= 1 ? 0 : servo_state.pid_position.value.elements[1];
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motor.P_angle.D = servo_state.pid_position.value.count <= 2 ? 0 : servo_state.pid_position.value.elements[2];
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// motor.P_angle.output_ramp = 10000; // default 1e6 rad/s^2
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/* angle low pass filtering, use only for very noisy position sensors - try to avoid and keep the values very small */
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motor.LPF_angle.Tf = 0; // default 0[=disabled]
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// setting the limits
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xSemaphoreGive(mutex);
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if (!armed) {
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File diff suppressed because it is too large
Load Diff
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