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swerve termporarily on tracking loss

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This commit is contained in:
Andy Killorin 2024-10-25 16:35:38 -04:00
parent dd7ff23be4
commit d3ed3f4093
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 13 additions and 2 deletions
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15
src/robot.cpp
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@ -99,18 +99,29 @@ void Robot::EnterLineFollowing(float speed)
int lineLostFrames = 24; int lineLostFrames = 24;
float lastError = 0;
void Robot::LineFollowingUpdate(void) void Robot::LineFollowingUpdate(void)
{ {
if(robotState == ROBOT_LINING) if(robotState == ROBOT_LINING)
{ {
float setpoint = 3.5; float setpoint = rollingTurnRate > 0.1 ? 4 : 3;
float lineError = setpoint - lineSensor.CalcError(); float lineError = setpoint - lineSensor.CalcError();
float powErr = (lineError*lineError); float powErr = (lineError*lineError);
powErr = (lineError < 0 ? -powErr : powErr); powErr = (lineError < 0 ? -powErr : powErr);
float turnEffort = powErr * lining_kP; float errDiff = lastError - lineError;
if (lineSensor.LineDetected()) {
lastError = lineError;
} else {
errDiff = 0;
lineError = lastError > 0 ? 7:-7;
}
float turnEffort = powErr * lining_kP2 + lineError * lining_kP + errDiff * lining_kD;
rollingTurnRate = rollingTurnRate * turnRateDamp + turnEffort * (1-turnRateDamp); rollingTurnRate = rollingTurnRate * turnRateDamp + turnEffort * (1-turnRateDamp);