Diff: WheelControl/Wheel.h

Revision:

3:01b5e80d842d

Parent:

1:813f4b17ae65

--- a/WheelControl/Wheel.h	Sun Mar 03 00:55:10 2019 +0000
+++ b/WheelControl/Wheel.h	Sat Mar 09 14:27:48 2019 +0000
@@ -5,7 +5,7 @@
     float distance; //distance traversed by wheel
     float angularVelocity;
     
-        float const static gain = 0.6f; //closed loop gain, (amount to amplify the difference) you have to tune this value
+        float const static gain = 1.2f; //closed loop gain, (amount to amplify the difference) you have to tune this value
     //but make sure its less than 1.5 otherwise you'll have a really sensitive motor
     
     PwmOut Mtr; //connect this pin to the motor driveboard pwm
@@ -20,31 +20,30 @@
     
     public:
     
-    float maxAngularVel;
+    float  maxAngularVel;
     
     float static const wheelDiameter = 0.18; //used in calculation of Linear velocity i.e never
     
-    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(0.6f)
+    Wheel (Encoder* E, PinName M, PinName D, PinName Mode) : Mtr(M), direction(D), polarity(Mode), controller(gain)
         {
+        maxAngularVel = 0.0f;
         enc = E;
         polarity = 0;   
         direction = 0;
         distance = 0;
+        Mtr.period_us(100); //frequency of 5KHz determine this constant value based on switching losses+frequency losses
+        //higher freq -> more switching losses lower freq -> more "capacitive losses" need to find a balance
+        Mtr.write(1); //start off on the turned off state
         
-        Mtr.period_us(200); //frequency of 1KHz determine this constant value based on switching losses+frequency losses
-        //higher freq -> more switching losses lower freq -> more "capacitive losses" need to find a balance
         updater.detach();
         
-        controller.setControl(10.0f);
         controller.setOutputLimits(-1.0f, 1.0f);
         }
     
-    float calculateAngularVelocity() //returns a float value which is the angular velocity of the WHEEL
+    void calculateAngularVelocity() //returns a float value which is the angular velocity of the WHEEL
     {
-        float eTR;
-        eTR = enc->encoderTickRate();
+        float eTR = enc->encoderTickRate();
         angularVelocity = (eTR/256.0f)*2.0f*(float)PI;
-        return eTR;
     }
     
     void setFrequency(int freq) //if you want to adjust the frequency
@@ -61,33 +60,34 @@
     //dir = direction, do opposite for each wheel just so your buggy doesn't move FORWARD but rather rotates
     void init(int dir) 
     {
+      enc->startTimer();
       Mtr.write(0); //max speed
+      angularVelocity = 10.0f;
       direction = dir;
-      updater.attach(callback(this, &Wheel::init2),1); //used as a wait preferably put this wait just long enough that the buggy will do a full 360 degree turn so that it hasn't moved
+      updater.detach();
+      updater.attach(callback(this, &Wheel::init2),2.0f); //used as a wait preferably put this wait just long enough that the buggy will do a full 360 degree turn so that it hasn't moved
     }
     
     void init2(void) //used as a temporarily wait command for the wheel to spin to max
     {
-        float temp = enc->encoderTickRate();
-        angularVelocity = (temp/256.0f)*2.0f*(float)PI;
-        maxAngularVel = angularVelocity;
-        controller.setInputLimits(-1.0f*angularVelocity,angularVelocity);
-        updater.attach(callback(this, &Wheel::wheelUpdates),0.1);  //attached the actual update function from now ON
+        calculateAngularVelocity();
+        maxAngularVel = abs(angularVelocity);
+        controller.setInputLimits(-1.0f*abs(angularVelocity),abs(angularVelocity));
+        controller.setControl(0.0f);
+        updater.detach();
+        updater.attach(callback(this, &Wheel::wheelUpdates),0.2f);  //attached the actual update function from now ON    
     }
     
     void wheelUpdates(void) //sampling rate the ticker is attached I.E the wheel speed is updated everytiem this function is called
         {
-            if (angularVelocity >= (controller.returnControl()+1.0f) || angularVelocity <= (controller.returnControl()-1.0f)) //only compute if their is a difference between wanted and current val
-            {
-            float temp = enc->encoderTickRate(); //get the encoder tick rate and store in a value called temp
-            angularVelocity = (temp/256.0f)*2.0f*(float)PI; //use it to calculate the angular velocity of the wheel
+            calculateAngularVelocity();
             float temp2 = controller.compute(angularVelocity); //another temporary value to store the computed angular velocity
             if (temp2 < 0) {direction = 1;} else {direction = 0;} //change direction according to the computed value
-            Mtr.write(temp2); //write the value as a pwm
-            distance += angularVelocity * wheelDiameter;
-            }
+            temp2 = abs(temp2);
+            Mtr.write(1.0f - temp2); //write the value as a pwm
         }
-    void adjustAngularVelocity(float W) // W = angular velocity you want, obviously putting a |w| value that is > max angular velocity will set dutcy cycle to 1
+        
+    void adjustAngularVelocity(float W) // W = angular velocity you want, obviously putting a |w| value that is > max angular velocity will set dutcy cycle to max
         {
         controller.setControl(W);
         if (W < 0.0f) {direction = 1;} else {direction = 0;} //obvs if you put a negative value -> will get a negative direction i.e 0;
@@ -98,4 +98,10 @@
     return distance; //distance traversed by wheel
     }
     
+    float returnMaxAngularVel(void)
+    {
+        return  maxAngularVel;
+    }
+    
+    
 };
\ No newline at end of file