Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

driving.h@15:32a4440ad305, 2021-10-26 (annotated)

Committer:
aalawfi
Date:
Tue Oct 26 16:35:59 2021 +0000
Revision:
15:32a4440ad305
Parent:
14:eb9c58c0f8cd
Child:
16:8cd4dd323941
- Separated the steering and driving tickers. Motor duty cycle hard coded for debugging purposes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
quarren42 1:c324a2849500 1 #define TI 0.001f //1kHz sample time
quarren42 1:c324a2849500 2 #define KP_LEFT 0.0379f //Proportional gain
quarren42 1:c324a2849500 3 #define KI_LEFT 0.7369f //Integral Gain
quarren42 1:c324a2849500 4
quarren42 1:c324a2849500 5 //#define KP_LEFT 16.1754f
quarren42 1:c324a2849500 6 //#define KI_LEFT 314.7632f
quarren42 1:c324a2849500 7
quarren42 1:c324a2849500 8 //#define KP_RIGHT 0.0379f
quarren42 1:c324a2849500 9 //#define KI_RIGHT 0.7369f
quarren42 1:c324a2849500 10
quarren42 1:c324a2849500 11 #define KP_RIGHT 0.0463f
quarren42 1:c324a2849500 12 #define KI_RIGHT 0.8981f
quarren42 1:c324a2849500 13
quarren42 1:c324a2849500 14 #define freq 20000.0f
quarren42 1:c324a2849500 15
quarren42 1:c324a2849500 16 #define fullBatScalar 0.5873f
quarren42 1:c324a2849500 17 #define speedSensorScalar 2.5f
quarren42 1:c324a2849500 18 #define battDividerScalar 4.0;
quarren42 6:d2bd68ba99c9 19
quarren42 8:cca7647cdb4b 20 AnalogIn pot1(PTB2); //was PTB0
quarren42 8:cca7647cdb4b 21 PwmOut motorLeft(PTE20); //was PTB1
quarren42 8:cca7647cdb4b 22 PwmOut motorRight(PTE21); //was PTB2
quarren42 8:cca7647cdb4b 23
aalawfi 3:25c6bf0abc00 24 AnalogIn speedSensorLeft(PTB3);
aalawfi 3:25c6bf0abc00 25 AnalogIn speedSensorRight(PTC2);
aalawfi 3:25c6bf0abc00 26 DigitalOut ledRed(LED1);
aalawfi 3:25c6bf0abc00 27 AnalogIn battInput(PTC1);
aalawfi 3:25c6bf0abc00 28 DigitalOut brakeLeft(PTA12);
quarren42 8:cca7647cdb4b 29 DigitalOut brakeRight(PTA4); //was PTD4
aalawfi 3:25c6bf0abc00 30
aalawfi 3:25c6bf0abc00 31 float pot1Voltage;
aalawfi 3:25c6bf0abc00 32 float dutyCycleLeft;
aalawfi 3:25c6bf0abc00 33 float tempDutyCycleLeft = 0;
aalawfi 3:25c6bf0abc00 34 float tempDutyCycleRight = 0;
aalawfi 3:25c6bf0abc00 35 float dutyCycleRight;
aalawfi 3:25c6bf0abc00 36 float speedLeftVolt;
aalawfi 3:25c6bf0abc00 37 float speedRightVolt;
aalawfi 3:25c6bf0abc00 38 float batteryVoltage;
aalawfi 3:25c6bf0abc00 39 float avgCellVoltage;
aalawfi 3:25c6bf0abc00 40
aalawfi 3:25c6bf0abc00 41 float errorAreaLeft = 0;
aalawfi 3:25c6bf0abc00 42 float errorAreaRight = 0;
aalawfi 3:25c6bf0abc00 43 float errorAreaLeftPrev = 0;
aalawfi 3:25c6bf0abc00 44 float errorAreaRightPrev = 0;
aalawfi 3:25c6bf0abc00 45 float errorLeft = 0;
aalawfi 3:25c6bf0abc00 46 float errorRight = 0;
aalawfi 3:25c6bf0abc00 47 float setpointLeft = 0.0; //target speed, 0.0 to 1.0
aalawfi 3:25c6bf0abc00 48 float setpointRight = 0.0;
aalawfi 3:25c6bf0abc00 49 float controllerOutputLeft = 0;
aalawfi 3:25c6bf0abc00 50 float controllerOutputRight = 0;
aalawfi 3:25c6bf0abc00 51 float x;
aalawfi 3:25c6bf0abc00 52
aalawfi 3:25c6bf0abc00 53 bool clampLeft = false;
aalawfi 3:25c6bf0abc00 54 bool clampRight = false;
aalawfi 3:25c6bf0abc00 55
aalawfi 3:25c6bf0abc00 56 bool brakeLeftBool = false;
aalawfi 3:25c6bf0abc00 57 bool brakeRightBool = false;
aalawfi 3:25c6bf0abc00 58
aalawfi 13:0091da3021df 59 volatile bool are_brakes_activated; // Used for debugging
aalawfi 11:210a33ee774f 60 void disable_brakes(void){
aalawfi 13:0091da3021df 61 are_brakes_activated = false;
aalawfi 11:210a33ee774f 62 brakeLeft=0;
aalawfi 11:210a33ee774f 63 brakeRight=0;
aalawfi 11:210a33ee774f 64 };
aalawfi 11:210a33ee774f 65 void enable_brakes(void) {
aalawfi 13:0091da3021df 66 are_brakes_activated = true;
aalawfi 11:210a33ee774f 67 brakeLeft = 1;
aalawfi 11:210a33ee774f 68 brakeRight = 1;
aalawfi 11:210a33ee774f 69 };
aalawfi 11:210a33ee774f 70
aalawfi 3:25c6bf0abc00 71
aalawfi 10:b0999f69c775 72 /*
aalawfi 10:b0999f69c775 73 Always set duty cycle to zero (disabling the motor), unless the motor is enabled
aalawfi 10:b0999f69c775 74 (motor_enabled = true);
aalawfi 10:b0999f69c775 75 BY default, the motor is disabled (duty cycle is zero)
aalawfi 10:b0999f69c775 76 */
aalawfi 10:b0999f69c775 77
aalawfi 9:5320c2dfb913 78 volatile bool motor_enabled = false;
aalawfi 5:636c3fe18aa8 79 void PI(void) { //motor PI interrupt
aalawfi 10:b0999f69c775 80 if(motor_enabled == true) {
aalawfi 14:eb9c58c0f8cd 81 setpointLeft = 0.2;
aalawfi 14:eb9c58c0f8cd 82 setpointRight = 0.2;
aalawfi 10:b0999f69c775 83 //--- Calculate Error ---
aalawfi 10:b0999f69c775 84 errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
aalawfi 10:b0999f69c775 85 errorRight = setpointRight - (speedRightVolt / 3.3f);
aalawfi 10:b0999f69c775 86 //--- Steady State Error Tolerace ---
aalawfi 10:b0999f69c775 87 if (abs(errorLeft) < 0.01){
aalawfi 10:b0999f69c775 88 errorLeft = 0.0;
aalawfi 10:b0999f69c775 89 }
aalawfi 10:b0999f69c775 90 if (abs(errorRight) < 0.01){
aalawfi 10:b0999f69c775 91 errorRight = 0.0;
aalawfi 10:b0999f69c775 92 }
aalawfi 10:b0999f69c775 93 //--- Calculate integral error ---
aalawfi 10:b0999f69c775 94 if (clampLeft == false){
aalawfi 5:636c3fe18aa8 95 errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
aalawfi 10:b0999f69c775 96 }
aalawfi 10:b0999f69c775 97 if (clampRight == false){
aalawfi 10:b0999f69c775 98 errorAreaRight = TI*errorRight + errorAreaRightPrev;
aalawfi 10:b0999f69c775 99 }
aalawfi 10:b0999f69c775 100 errorAreaLeftPrev = errorAreaLeft;
aalawfi 10:b0999f69c775 101 errorAreaRightPrev = errorAreaRight;
aalawfi 5:636c3fe18aa8 102 /*
aalawfi 5:636c3fe18aa8 103 if (errorAreaLeft > 0.1){
aalawfi 5:636c3fe18aa8 104 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 105 }
aalawfi 5:636c3fe18aa8 106 p
aalawfi 5:636c3fe18aa8 107 if (errorAreaRight > 0.1){
aalawfi 5:636c3fe18aa8 108 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 109 }
aalawfi 5:636c3fe18aa8 110 */
aalawfi 5:636c3fe18aa8 111
aalawfi 5:636c3fe18aa8 112 //--- Calculate total error ---
aalawfi 10:b0999f69c775 113 controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
aalawfi 10:b0999f69c775 114 controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
aalawfi 10:b0999f69c775 115 tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
aalawfi 10:b0999f69c775 116 tempDutyCycleRight = fullBatScalar * controllerOutputRight;
aalawfi 10:b0999f69c775 117 //--- Motor over-voltage safety ---
aalawfi 10:b0999f69c775 118 if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason -
aalawfi 10:b0999f69c775 119 dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
aalawfi 10:b0999f69c775 120 } else {
aalawfi 10:b0999f69c775 121 dutyCycleLeft = tempDutyCycleLeft;
aalawfi 5:636c3fe18aa8 122 }
aalawfi 10:b0999f69c775 123 if (tempDutyCycleRight > fullBatScalar){
aalawfi 10:b0999f69c775 124 dutyCycleRight = fullBatScalar;
aalawfi 10:b0999f69c775 125 } else {
aalawfi 10:b0999f69c775 126 dutyCycleRight = tempDutyCycleRight;
aalawfi 10:b0999f69c775 127 }
aalawfi 10:b0999f69c775 128 //--- integral anti-windup ---
aalawfi 10:b0999f69c775 129 if (controllerOutputLeft > 1.0){
aalawfi 10:b0999f69c775 130 if (errorAreaLeft > 0.0){
aalawfi 10:b0999f69c775 131 clampLeft = true;
aalawfi 5:636c3fe18aa8 132 }
aalawfi 10:b0999f69c775 133 if (errorAreaLeft < 0.0){
aalawfi 10:b0999f69c775 134 clampLeft = false;
aalawfi 10:b0999f69c775 135 }
aalawfi 10:b0999f69c775 136 } else {
aalawfi 10:b0999f69c775 137 clampLeft = false;
aalawfi 5:636c3fe18aa8 138 }
aalawfi 5:636c3fe18aa8 139
aalawfi 5:636c3fe18aa8 140 if (controllerOutputRight > 1.0){
aalawfi 5:636c3fe18aa8 141 if (errorAreaRight > 0.0){
aalawfi 5:636c3fe18aa8 142 clampRight = true;
aalawfi 5:636c3fe18aa8 143 }
aalawfi 5:636c3fe18aa8 144 if (errorAreaRight < 0.0){
aalawfi 5:636c3fe18aa8 145 clampRight = false;
aalawfi 5:636c3fe18aa8 146 }
aalawfi 5:636c3fe18aa8 147 } else {
aalawfi 5:636c3fe18aa8 148 clampRight = false;
aalawfi 5:636c3fe18aa8 149 }
aalawfi 5:636c3fe18aa8 150
aalawfi 5:636c3fe18aa8 151 //--- fucked up manual braking stuff ---
aalawfi 9:5320c2dfb913 152 if (brakeLeftBool == true)
aalawfi 5:636c3fe18aa8 153 {
aalawfi 5:636c3fe18aa8 154 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 155 brakeLeft = 1;
aalawfi 5:636c3fe18aa8 156 } else {
aalawfi 5:636c3fe18aa8 157 brakeLeft = 0;
aalawfi 5:636c3fe18aa8 158 }
aalawfi 5:636c3fe18aa8 159
aalawfi 9:5320c2dfb913 160 if (brakeRightBool == true)
aalawfi 5:636c3fe18aa8 161 {
aalawfi 11:210a33ee774f 162 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 163 brakeRight = 1;
aalawfi 5:636c3fe18aa8 164 } else {
aalawfi 5:636c3fe18aa8 165 brakeRight = 0;
aalawfi 5:636c3fe18aa8 166 }
aalawfi 5:636c3fe18aa8 167
aalawfi 5:636c3fe18aa8 168 //--- set motors to calculated output ---
aalawfi 15:32a4440ad305 169 motorLeft.write(0.2); // 0.2 For debugging
aalawfi 14:eb9c58c0f8cd 170 motorRight.write(0.2);
aalawfi 9:5320c2dfb913 171
aalawfi 3:25c6bf0abc00 172 //--- motor braking ---
aalawfi 3:25c6bf0abc00 173 /*
aalawfi 3:25c6bf0abc00 174 if (controllerOutputLeft < 0.0){
aalawfi 3:25c6bf0abc00 175 brakeLeft = 1;
aalawfi 3:25c6bf0abc00 176 } else {
aalawfi 3:25c6bf0abc00 177 brakeLeft = 0;
aalawfi 3:25c6bf0abc00 178 }
aalawfi 3:25c6bf0abc00 179
aalawfi 3:25c6bf0abc00 180 if (controllerOutputRight < 0.0){
aalawfi 3:25c6bf0abc00 181 brakeRight = 1;
aalawfi 3:25c6bf0abc00 182 } else {
aalawfi 3:25c6bf0abc00 183 brakeRight = 0;
aalawfi 3:25c6bf0abc00 184 }
aalawfi 3:25c6bf0abc00 185 */
aalawfi 9:5320c2dfb913 186 }
aalawfi 10:b0999f69c775 187 else {
aalawfi 10:b0999f69c775 188 motorLeft.write(0.0);
aalawfi 10:b0999f69c775 189 motorRight.write(0.0);
aalawfi 10:b0999f69c775 190 }
aalawfi 3:25c6bf0abc00 191 }