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continue until timeout

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This commit is contained in:
Andy Killorin 2025-12-10 13:22:34 -05:00
parent 0ef16df511
commit 60ce321906
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 11 additions and 8 deletions
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8
robot_controller/constants.h
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@ -18,11 +18,11 @@ const float TURN_AMOUNT = 180.0; // degrees
const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI; const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
const float RETURN_DISTANCE = 100.0; // cm const float RETURN_DISTANCE = 100.0; // cm
const float FF_ACCEL = 0.7; // motor acceleration feedforward const float FF_ACCEL = 2.7; // motor acceleration feedforward
const float FF_VEL = 0.6; // motor velocity feedforward const float FF_VEL = 0.7; // motor velocity feedforward
const float FF_STAT = 15.4; // motor static friction const float FF_STAT = 16.4; // motor static friction
const float KP = 2.0; // proportional const float KP = 2.0; // proportional
const float KI = 0.5; // integral const float KI = 0.5; // integral
const float KD = 0.05; // derivative const float KD = 0.05; // derivative
const float KPP = 0.15; // position proportional const float KPP = 0.25; // position proportional
const float KPI = 0.05; // position integral const float KPI = 0.05; // position integral

11
robot_controller/robot_controller.ino
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@ -62,13 +62,16 @@ void setup() {
void loop() { void loop() {
float time = (float)millis() / 1000.0 - phase_start; float time = (float)millis() / 1000.0 - phase_start;
float end_time;
switch (robot_state) { switch (robot_state) {
case FORWARD: case FORWARD:
case RETURN: case RETURN:
setpoint = trapezoidal_planner(&forward, time); setpoint = trapezoidal_planner(&forward, time);
end_time = trapezoidal_time(&forward);
break; break;
case TURN: case TURN:
setpoint = trapezoidal_planner(&turn, time); setpoint = trapezoidal_planner(&turn, time);
end_time = trapezoidal_time(&turn);
break; break;
} }
@ -107,11 +110,11 @@ void loop() {
write_rpm_ff(&right_motor, right_velocity * CMS_RPM , feedforward_right); write_rpm_ff(&right_motor, right_velocity * CMS_RPM , feedforward_right);
// send telemetry // send telemetry
int32_t rpm = -right_motor.read_rpm(); int32_t rpm = left_motor.read_rpm();
int32_t pos = -right_motor.read_angle(); int32_t pos = left_motor.read_angle();
int32_t error = setpoint.velocity * CMS_RPM - rpm; int32_t error = setpoint.velocity * CMS_RPM - rpm;
Serial.print("ff:"); Serial.print("ff:");
Serial.print(right_effort); Serial.print(left_effort);
Serial.print(",time:"); Serial.print(",time:");
Serial.print(time); Serial.print(time);
Serial.print(",distgoal:"); Serial.print(",distgoal:");
@ -131,7 +134,7 @@ void loop() {
// total wheel offness in degrees // total wheel offness in degrees
float total_pos_error = abs(pos_err_left) + abs(pos_err_right); float total_pos_error = abs(pos_err_left) + abs(pos_err_right);
// move on if at setpoint TODO: give up after timeout // move on if at setpoint TODO: give up after timeout
if (setpoint.complete && total_pos_error < 10.0) { if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 3.0)) {
// rehome // rehome
left_home += (setpoint.position / DEG_CM); left_home += (setpoint.position / DEG_CM);
right_home += (turnsig * setpoint.position / DEG_CM); right_home += (turnsig * setpoint.position / DEG_CM);