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4 changed files with 64 additions and 96 deletions
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cad/Drive Wheel-2.SLDPRT
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38
robot_controller/constants.h
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@ -1,9 +1,11 @@
#pragma once #pragma once
const float ACCEL_LIMIT = 6.0; // cm/s/s const float ACCEL_LIMIT = 5.0; // cm/s/s
const float VEL_LIMIT = 12.0; // cm/s const float VEL_LIMIT = 16.0; // cm/s
const float WHEEL_DIAMETER = 6.61; // cm const float BACKLASH_RIGHT = 0.0; // degrees
const float WHEEL_TO_WHEEL = 8.6; // cm const float BACKLASH_LEFT = 0.0; // degrees
const float WHEEL_DIAMETER = 10.25; // cm
const float WHEEL_TO_WHEEL = 9.0; // cm
// centimeters per second to rpm // centimeters per second to rpm
const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER); const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
@ -11,22 +13,16 @@ const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
// degrees to centimeters // degrees to centimeters
const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0; const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
const float FORWARD_DISTANCE = 100.0; // cm const float FORWARD_DISTANCE = 10.0; // cm
const float TURN_AMOUNT = 190.0; // degrees const float TURN_AMOUNT = 175.0; // 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 KP = 1.50; // proportional const float FF_ACCEL = 2.3; // motor acceleration feedforward
const float KI = 0.12; // integral const float FF_VEL = 0.7; // motor velocity feedforward
const float KD = 0.00; // derivative const float FF_STAT = 16.4; // motor static friction
const float Kv = 1.85; // onboard velocity feedforward const float KP = 2.0; // proportional
const float KI = 0.5; // integral
const float TURN_KP = 1.50; // proportional const float KD = 0.05; // derivative
const float TURN_KI = 0.10; // integral const float KPP = 0.25; // position proportional
const float TURN_KD = 0.00; // derivative const float KPI = 0.05; // position integral
const float TURN_Kv = 2.6; // onboard velocity feedforward
const float KPP = 0.14; // position proportional
const float KPI = 0.12; // position integral
const float KRP = 0.0; // rotation proportional
const float V_MIN = 5.5; // velocity minimum
const float V_KMIN = 0.7; // velocity minimum coefficient

116
robot_controller/robot_controller.ino
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@ -16,6 +16,8 @@ enum ROBOT_STATE {
COMPLETE, COMPLETE,
}; };
float CURRENT_POSITION = 0.0;
float CURRENT_ROTATION = 0.0;
struct Setpoint setpoint; struct Setpoint setpoint;
// start of current state // start of current state
float phase_start; float phase_start;
@ -31,6 +33,15 @@ float time_p = 0.0;
float left_home = 0.0; float left_home = 0.0;
float right_home = 0.0; float right_home = 0.0;
void write_rpm_ff(SmartMotor* motor, int32_t rpm, float ff) {
if (rpm == 0) {rpm = 1;};
float kV = ff / (float) rpm; // calculate velocity feedforward that causes desired absolute feedforward
motor->tune_vel_pid(kV, KP,KI,KD);
delay(1);
motor->write_rpm(rpm);
delay(1);
}
void setup() { void setup() {
// INIT SERIAL // INIT SERIAL
Serial.begin(115200); Serial.begin(115200);
@ -38,25 +49,10 @@ void setup() {
Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER Wire.begin(); // INIT ARDUINO UNO AS I2C CONTROLLER
left_motor.tune_pos_pid(0.4, 0.024, 0.008); left_motor.write_rpm(0.0);
delay(1); delay(1);
right_motor.tune_pos_pid(0.4, 0.024, 0.008); right_motor.write_rpm(0.0);
delay(1); delay(999);
left_motor.tune_vel_pid(Kv, KP,KI,KD);
delay(1);
right_motor.tune_vel_pid(Kv, KP,KI,KD);
delay(1);
delay(10);
// runs to mend bad state
left_motor.home();
delay(1);
left_motor.write_angle(0.0);
delay(1);
right_motor.home();
delay(1);
right_motor.write_angle(0.0);
delay(3000);
phase_start = (float)millis() / 1000.0; phase_start = (float)millis() / 1000.0;
robot_state = FORWARD; robot_state = FORWARD;
@ -85,9 +81,6 @@ void loop() {
float pos_err_right = ((setpoint.position / DEG_CM) + right_home) - right_motor.read_angle(); float pos_err_right = ((setpoint.position / DEG_CM) + right_home) - right_motor.read_angle();
float pos_err_left = ((turnsig * setpoint.position / DEG_CM) + left_home) - left_motor.read_angle(); float pos_err_left = ((turnsig * setpoint.position / DEG_CM) + left_home) - left_motor.read_angle();
// total wheel offness in degrees
float total_pos_error = abs(pos_err_left) + abs(pos_err_right);
// delta should be ~4ms // delta should be ~4ms
if (time > time_p) { if (time > time_p) {
float delta = time - time_p; float delta = time - time_p;
@ -102,52 +95,46 @@ void loop() {
float right_velocity = setpoint.velocity + right_effort; float right_velocity = setpoint.velocity + right_effort;
float left_velocity = (turnsig * setpoint.velocity) + left_effort; float left_velocity = (turnsig * setpoint.velocity) + left_effort;
if (setpoint.complete && robot_state == TURN) { // calculate feedforward from motion profile and position PI data
right_motor.write_angle((setpoint.position / DEG_CM) + right_home); float feedforward_right =
left_motor.write_angle((turnsig * setpoint.position / DEG_CM) + left_home); setpoint.acceleration * CMS_RPM * FF_ACCEL +
} else { right_velocity * CMS_RPM * FF_VEL +
right_motor.write_rpm(right_velocity * CMS_RPM); ((right_velocity > 0.0) ? FF_STAT : -FF_STAT);
delay(1); float feedforward_left =
left_motor.write_rpm(left_velocity * CMS_RPM); setpoint.acceleration * CMS_RPM * FF_ACCEL +
delay(1); left_velocity * CMS_RPM * FF_VEL +
} ((left_velocity > 0.0) ? FF_STAT : -FF_STAT);
// arbitrary feedforward with on-board velocity PID
write_rpm_ff(&right_motor, right_velocity * CMS_RPM , feedforward_right);
write_rpm_ff(&left_motor, left_velocity * CMS_RPM , feedforward_left);
// 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("el:"); Serial.print("ff:");
Serial.print(pos_err_left); Serial.print(left_effort);
Serial.print(",er:"); Serial.print(",time:");
Serial.print(pos_err_right); Serial.print(time);
Serial.print(",il:"); Serial.print(",distgoal:");
Serial.print(left_iaccum); Serial.print(setpoint.position);
Serial.print(",ir:"); Serial.print(",dist:");
Serial.print(right_iaccum); Serial.print(pos * DEG_CM);
Serial.print(",effr:"); Serial.print(",cms/s:");
Serial.print(right_effort);
//Serial.print("ff:");
//Serial.print(left_effort);
//Serial.print(",time:");
//Serial.print(time);
//Serial.print(",distgoal:");
//Serial.print(setpoint.position);
//Serial.print(",dist:");
//Serial.print(pos * DEG_CM);
Serial.print(",vel:");
Serial.print(rpm / CMS_RPM); Serial.print(rpm / CMS_RPM);
Serial.print(",setvel:"); Serial.print(",setvel:");
Serial.print(setpoint.velocity); Serial.print(setpoint.velocity);
Serial.print(",rvel:"); Serial.print(",setacc:");
Serial.print(right_velocity); Serial.print(setpoint.acceleration);
//Serial.print(",setacc:"); Serial.print(",Err:");
//Serial.print(setpoint.acceleration); Serial.print(error / CMS_RPM);
//Serial.print(",Err:");
//Serial.print(error / CMS_RPM);
Serial.println(""); Serial.println("");
// move on if at setpoint or timeout // total wheel offness in degrees
if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 5.0)) { float total_pos_error = abs(pos_err_left) + abs(pos_err_right);
// move on if at setpoint TODO: give up after timeout
if (setpoint.complete && (total_pos_error < 3.0 || time - end_time > 3.0)) {
// rehome // rehome
right_home += (setpoint.position / DEG_CM); right_home += (setpoint.position / DEG_CM);
left_home += (turnsig * setpoint.position / DEG_CM); left_home += (turnsig * setpoint.position / DEG_CM);
@ -156,21 +143,10 @@ void loop() {
switch (robot_state) { switch (robot_state) {
case FORWARD: case FORWARD:
// turn tuning (more aggressive)
left_motor.tune_vel_pid(TURN_Kv, TURN_KP,TURN_KI,TURN_KD);
delay(1);
right_motor.tune_vel_pid(TURN_Kv,TURN_KP,TURN_KI,TURN_KD);
robot_state = TURN; robot_state = TURN;
right_iaccum = left_iaccum = 60.0;
phase_start = (float)millis() / 1000.0; phase_start = (float)millis() / 1000.0;
break; break;
case TURN: case TURN:
// straight line tuning (less aggressive)
left_motor.tune_vel_pid(Kv, KP,KI,KD);
delay(1);
right_motor.tune_vel_pid(Kv, KP,KI,KD);
robot_state = RETURN; robot_state = RETURN;
phase_start = (float)millis() / 1000.0; phase_start = (float)millis() / 1000.0;

4
robot_controller/trapezoidal.ino
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@ -11,10 +11,6 @@ struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time)
float time_accelerating = max_vel / max_acc; float time_accelerating = max_vel / max_acc;
float distance_while_accelerating = 0.5 * max_acc * time_accelerating * time_accelerating; float distance_while_accelerating = 0.5 * max_acc * time_accelerating * time_accelerating;
if (time < 0.0) {
return setpoint;
}
if (2.0 * distance_while_accelerating > dist) { if (2.0 * distance_while_accelerating > dist) {
// triangular // triangular
float peak_velocity_time = sqrt(dist/max_acc); float peak_velocity_time = sqrt(dist/max_acc);