145 lines
4.4 KiB
C++
145 lines
4.4 KiB
C++
#include <QuickPID.h>
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#define MOT_DX_STEP 19
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#define MOT_DX_DIR 18
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#define MOT_SX_STEP 17
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#define MOT_SX_DIR 16
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// Nema 17 make 1.8° per step. Using A4988 drivers, and 1/16th microstepping, it results in 0.1125° per step
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constexpr double ANGLE_PER_STEP = 0.1125;
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// Just used a kitchen scale, good enough
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constexpr double WEIGHT = 0.961;
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constexpr double WHEEL_RADIUS = 0.0475;
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// Experimentally, the lowest pulse my steppers can handle without stalling + some leeway
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constexpr double MAX_HALF_PERIOD = 75; // in microseconds
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// Which means there is a maximum velocity achievable
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constexpr double MAX_VELOCITY = 1000000 * WHEEL_RADIUS / (2 * MAX_HALF_PERIOD * ANGLE_PER_STEP) * PI / 180;
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// Derived and analytical model, linearized it and simulated in MATLAB.
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// PID values are then calculated and verified by simulation in Simulink. I ain't calibrating a PID by hand on this robot
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// I modified the ArduPID library to make it accept negative values for the parameters
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constexpr double KP = 42;
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constexpr double KI = KP * 10.8852;
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constexpr double KD = 0.3;
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// PI constants for outer velocity control loop
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constexpr double KP_vel = 0.01;
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constexpr double KI_vel = 0.005;
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float angle_setpoint = 0.0;
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float angle_output = 0;
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float angle_input = 0;
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float vel_setpoint = 0.0;
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float vel_input = 0.0;
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float yaw{ 0 }, pitch{ 0 }, roll{ 0 };
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QuickPID pitchCtrl(&angle_input, &angle_output, &angle_setpoint, KP, KI, KD, pitchCtrl.pMode::pOnError, pitchCtrl.dMode::dOnMeas, pitchCtrl.iAwMode::iAwCondition, pitchCtrl.Action::reverse);
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// TODO: a little deadzone when the input is almost 0, just to avoid unnecessary "nervous" control and eventual oscillations
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QuickPID velCtrl(&angle_output, &angle_setpoint, &vel_setpoint, KP_vel, KI_vel, 0, velCtrl.pMode::pOnMeas, velCtrl.dMode::dOnMeas, velCtrl.iAwMode::iAwCondition, velCtrl.Action::direct);
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void setup() {
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Serial.begin(9600);
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delay(1000);
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setup_imu();
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// Just to signal it is working
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pinMode(LED_BUILTIN, OUTPUT);
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digitalWrite(LED_BUILTIN, HIGH);
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// Let the initial error from madgwick filter discharge without affecting the integral term of the PID
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unsigned long t = millis();
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while (millis() - t < 2000) {
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update_imu();
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}
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// Backward because all coefficients need to be negative
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pitchCtrl.SetOutputLimits(-MAX_VELOCITY, MAX_VELOCITY);
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pitchCtrl.SetMode(pitchCtrl.Control::automatic);
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pitchCtrl.SetSampleTimeUs(1000);
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velCtrl.SetOutputLimits(-0.35, 0.35);
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velCtrl.SetMode(velCtrl.Control::automatic);
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velCtrl.SetSampleTimeUs(10000);
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digitalWrite(LED_BUILTIN, LOW);
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}
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void setup1(){
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pinMode(MOT_DX_DIR, OUTPUT);
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pinMode(MOT_SX_DIR, OUTPUT);
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pinMode(MOT_DX_STEP, OUTPUT);
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pinMode(MOT_SX_STEP, OUTPUT);
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}
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unsigned long last_time_motors = micros(), current_time_motors = micros();
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bool b = true;
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// Such a long halfperiod means that the motors are not moving
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uint32_t t = INT_MAX;
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int32_t period = INT_MAX, halfperiod1 = INT_MAX;
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void loop1(){
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// TODO: handle the steppers using interrupt timers. The second core could be used for IMU processing, while the first one handles the different control loops
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// Retrieve the half period value from core0. Non blocking call
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if(rp2040.fifo.available()) {
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rp2040.fifo.pop_nb(&t);
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int32_t period = (int32_t)t;
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// Direction need to be changed during motor pulse
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// Doing it here unsure it happens at the correct time
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if(period > 0){
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// Positivie direction
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digitalWriteFast(MOT_DX_DIR, HIGH);
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digitalWriteFast(MOT_SX_DIR, HIGH);
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halfperiod1 = (uint32_t)(period);
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}else{
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// Negative direction
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digitalWriteFast(MOT_DX_DIR, LOW);
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digitalWriteFast(MOT_SX_DIR, LOW);
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halfperiod1 = (uint32_t)(-period);
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}
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}
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current_time_motors = micros();
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if(current_time_motors - last_time_motors > halfperiod1){
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// Half a pulse. Next cycle will be the rest
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digitalWriteFast(MOT_DX_STEP, b);
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digitalWriteFast(MOT_SX_STEP, b);
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b = !b;
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last_time_motors = current_time_motors;
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}
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}
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double frequency = 0;
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int32_t half_period0 = 0;
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double velocity = 0;
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uint32_t current_time = millis(), last_time = millis();
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void loop() {
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update_imu();
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velCtrl.Compute();
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angle_input = pitch;
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if(pitchCtrl.Compute()){
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double tvelocity = angle_output;
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tvelocity = tvelocity / WHEEL_RADIUS * 180 / PI;
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frequency = tvelocity * 0.1125;
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half_period0 = 1000000 / (2*frequency);
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// Send the half period to core 1. Non blocking
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rp2040.fifo.push_nb(half_period0);
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}
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} |