Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

driving.h@16:8cd4dd323941, 2021-10-26 (annotated)

Committer:
aalawfi
Date:
Tue Oct 26 17:06:39 2021 +0000
Revision:
16:8cd4dd323941
Parent:
15:32a4440ad305
Child:
17:d2c98ebda90b
- Fixed brakes problem. Motors responding well no heating issues. Must fixe PI controller issue still

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
aalawfi 16:8cd4dd323941 21 // Motor Left is PTE20
aalawfi 16:8cd4dd323941 22 // Motor right is pte 21
quarren42 8:cca7647cdb4b 23 PwmOut motorLeft(PTE20); //was PTB1
quarren42 8:cca7647cdb4b 24 PwmOut motorRight(PTE21); //was PTB2
aalawfi 16:8cd4dd323941 25 // left is ptb3
aalawfi 16:8cd4dd323941 26 // right is ptc 2
aalawfi 3:25c6bf0abc00 27 AnalogIn speedSensorLeft(PTB3);
aalawfi 3:25c6bf0abc00 28 AnalogIn speedSensorRight(PTC2);
aalawfi 3:25c6bf0abc00 29 DigitalOut ledRed(LED1);
aalawfi 3:25c6bf0abc00 30 AnalogIn battInput(PTC1);
aalawfi 16:8cd4dd323941 31 // left brake is pta12
aalawfi 16:8cd4dd323941 32 // right brake is pta4
aalawfi 3:25c6bf0abc00 33 DigitalOut brakeLeft(PTA12);
quarren42 8:cca7647cdb4b 34 DigitalOut brakeRight(PTA4); //was PTD4
aalawfi 3:25c6bf0abc00 35
aalawfi 3:25c6bf0abc00 36 float pot1Voltage;
aalawfi 3:25c6bf0abc00 37 float dutyCycleLeft;
aalawfi 3:25c6bf0abc00 38 float tempDutyCycleLeft = 0;
aalawfi 3:25c6bf0abc00 39 float tempDutyCycleRight = 0;
aalawfi 3:25c6bf0abc00 40 float dutyCycleRight;
aalawfi 3:25c6bf0abc00 41 float speedLeftVolt;
aalawfi 3:25c6bf0abc00 42 float speedRightVolt;
aalawfi 3:25c6bf0abc00 43 float batteryVoltage;
aalawfi 3:25c6bf0abc00 44 float avgCellVoltage;
aalawfi 3:25c6bf0abc00 45
aalawfi 3:25c6bf0abc00 46 float errorAreaLeft = 0;
aalawfi 3:25c6bf0abc00 47 float errorAreaRight = 0;
aalawfi 3:25c6bf0abc00 48 float errorAreaLeftPrev = 0;
aalawfi 3:25c6bf0abc00 49 float errorAreaRightPrev = 0;
aalawfi 3:25c6bf0abc00 50 float errorLeft = 0;
aalawfi 3:25c6bf0abc00 51 float errorRight = 0;
aalawfi 3:25c6bf0abc00 52 float setpointLeft = 0.0; //target speed, 0.0 to 1.0
aalawfi 3:25c6bf0abc00 53 float setpointRight = 0.0;
aalawfi 3:25c6bf0abc00 54 float controllerOutputLeft = 0;
aalawfi 3:25c6bf0abc00 55 float controllerOutputRight = 0;
aalawfi 3:25c6bf0abc00 56 float x;
aalawfi 3:25c6bf0abc00 57
aalawfi 3:25c6bf0abc00 58 bool clampLeft = false;
aalawfi 3:25c6bf0abc00 59 bool clampRight = false;
aalawfi 3:25c6bf0abc00 60
aalawfi 3:25c6bf0abc00 61 bool brakeLeftBool = false;
aalawfi 3:25c6bf0abc00 62 bool brakeRightBool = false;
aalawfi 3:25c6bf0abc00 63
aalawfi 13:0091da3021df 64 volatile bool are_brakes_activated; // Used for debugging
aalawfi 11:210a33ee774f 65 void disable_brakes(void){
aalawfi 13:0091da3021df 66 are_brakes_activated = false;
aalawfi 11:210a33ee774f 67 brakeLeft=0;
aalawfi 11:210a33ee774f 68 brakeRight=0;
aalawfi 11:210a33ee774f 69 };
aalawfi 11:210a33ee774f 70 void enable_brakes(void) {
aalawfi 13:0091da3021df 71 are_brakes_activated = true;
aalawfi 11:210a33ee774f 72 brakeLeft = 1;
aalawfi 11:210a33ee774f 73 brakeRight = 1;
aalawfi 11:210a33ee774f 74 };
aalawfi 11:210a33ee774f 75
aalawfi 3:25c6bf0abc00 76
aalawfi 10:b0999f69c775 77 /*
aalawfi 10:b0999f69c775 78 Always set duty cycle to zero (disabling the motor), unless the motor is enabled
aalawfi 10:b0999f69c775 79 (motor_enabled = true);
aalawfi 10:b0999f69c775 80 BY default, the motor is disabled (duty cycle is zero)
aalawfi 10:b0999f69c775 81 */
aalawfi 10:b0999f69c775 82
aalawfi 9:5320c2dfb913 83 volatile bool motor_enabled = false;
aalawfi 5:636c3fe18aa8 84 void PI(void) { //motor PI interrupt
aalawfi 10:b0999f69c775 85 if(motor_enabled == true) {
aalawfi 14:eb9c58c0f8cd 86 setpointLeft = 0.2;
aalawfi 14:eb9c58c0f8cd 87 setpointRight = 0.2;
aalawfi 10:b0999f69c775 88 //--- Calculate Error ---
aalawfi 10:b0999f69c775 89 errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
aalawfi 10:b0999f69c775 90 errorRight = setpointRight - (speedRightVolt / 3.3f);
aalawfi 10:b0999f69c775 91 //--- Steady State Error Tolerace ---
aalawfi 10:b0999f69c775 92 if (abs(errorLeft) < 0.01){
aalawfi 10:b0999f69c775 93 errorLeft = 0.0;
aalawfi 10:b0999f69c775 94 }
aalawfi 10:b0999f69c775 95 if (abs(errorRight) < 0.01){
aalawfi 10:b0999f69c775 96 errorRight = 0.0;
aalawfi 10:b0999f69c775 97 }
aalawfi 10:b0999f69c775 98 //--- Calculate integral error ---
aalawfi 10:b0999f69c775 99 if (clampLeft == false){
aalawfi 5:636c3fe18aa8 100 errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
aalawfi 10:b0999f69c775 101 }
aalawfi 10:b0999f69c775 102 if (clampRight == false){
aalawfi 10:b0999f69c775 103 errorAreaRight = TI*errorRight + errorAreaRightPrev;
aalawfi 10:b0999f69c775 104 }
aalawfi 10:b0999f69c775 105 errorAreaLeftPrev = errorAreaLeft;
aalawfi 10:b0999f69c775 106 errorAreaRightPrev = errorAreaRight;
aalawfi 5:636c3fe18aa8 107 /*
aalawfi 5:636c3fe18aa8 108 if (errorAreaLeft > 0.1){
aalawfi 5:636c3fe18aa8 109 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 110 }
aalawfi 5:636c3fe18aa8 111 p
aalawfi 5:636c3fe18aa8 112 if (errorAreaRight > 0.1){
aalawfi 5:636c3fe18aa8 113 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 114 }
aalawfi 5:636c3fe18aa8 115 */
aalawfi 5:636c3fe18aa8 116
aalawfi 5:636c3fe18aa8 117 //--- Calculate total error ---
aalawfi 10:b0999f69c775 118 controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
aalawfi 10:b0999f69c775 119 controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
aalawfi 10:b0999f69c775 120 tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
aalawfi 10:b0999f69c775 121 tempDutyCycleRight = fullBatScalar * controllerOutputRight;
aalawfi 10:b0999f69c775 122 //--- Motor over-voltage safety ---
aalawfi 10:b0999f69c775 123 if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason -
aalawfi 10:b0999f69c775 124 dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
aalawfi 10:b0999f69c775 125 } else {
aalawfi 10:b0999f69c775 126 dutyCycleLeft = tempDutyCycleLeft;
aalawfi 5:636c3fe18aa8 127 }
aalawfi 10:b0999f69c775 128 if (tempDutyCycleRight > fullBatScalar){
aalawfi 10:b0999f69c775 129 dutyCycleRight = fullBatScalar;
aalawfi 10:b0999f69c775 130 } else {
aalawfi 10:b0999f69c775 131 dutyCycleRight = tempDutyCycleRight;
aalawfi 10:b0999f69c775 132 }
aalawfi 10:b0999f69c775 133 //--- integral anti-windup ---
aalawfi 10:b0999f69c775 134 if (controllerOutputLeft > 1.0){
aalawfi 10:b0999f69c775 135 if (errorAreaLeft > 0.0){
aalawfi 10:b0999f69c775 136 clampLeft = true;
aalawfi 5:636c3fe18aa8 137 }
aalawfi 10:b0999f69c775 138 if (errorAreaLeft < 0.0){
aalawfi 10:b0999f69c775 139 clampLeft = false;
aalawfi 10:b0999f69c775 140 }
aalawfi 10:b0999f69c775 141 } else {
aalawfi 10:b0999f69c775 142 clampLeft = false;
aalawfi 5:636c3fe18aa8 143 }
aalawfi 5:636c3fe18aa8 144
aalawfi 5:636c3fe18aa8 145 if (controllerOutputRight > 1.0){
aalawfi 5:636c3fe18aa8 146 if (errorAreaRight > 0.0){
aalawfi 5:636c3fe18aa8 147 clampRight = true;
aalawfi 5:636c3fe18aa8 148 }
aalawfi 5:636c3fe18aa8 149 if (errorAreaRight < 0.0){
aalawfi 5:636c3fe18aa8 150 clampRight = false;
aalawfi 5:636c3fe18aa8 151 }
aalawfi 5:636c3fe18aa8 152 } else {
aalawfi 5:636c3fe18aa8 153 clampRight = false;
aalawfi 5:636c3fe18aa8 154 }
aalawfi 5:636c3fe18aa8 155
aalawfi 5:636c3fe18aa8 156 //--- fucked up manual braking stuff ---
aalawfi 9:5320c2dfb913 157 if (brakeLeftBool == true)
aalawfi 5:636c3fe18aa8 158 {
aalawfi 5:636c3fe18aa8 159 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 160 brakeLeft = 1;
aalawfi 5:636c3fe18aa8 161 } else {
aalawfi 5:636c3fe18aa8 162 brakeLeft = 0;
aalawfi 5:636c3fe18aa8 163 }
aalawfi 5:636c3fe18aa8 164
aalawfi 9:5320c2dfb913 165 if (brakeRightBool == true)
aalawfi 5:636c3fe18aa8 166 {
aalawfi 11:210a33ee774f 167 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 168 brakeRight = 1;
aalawfi 5:636c3fe18aa8 169 } else {
aalawfi 5:636c3fe18aa8 170 brakeRight = 0;
aalawfi 5:636c3fe18aa8 171 }
aalawfi 5:636c3fe18aa8 172
aalawfi 5:636c3fe18aa8 173 //--- set motors to calculated output ---
aalawfi 15:32a4440ad305 174 motorLeft.write(0.2); // 0.2 For debugging
aalawfi 14:eb9c58c0f8cd 175 motorRight.write(0.2);
aalawfi 9:5320c2dfb913 176
aalawfi 3:25c6bf0abc00 177 //--- motor braking ---
aalawfi 3:25c6bf0abc00 178 /*
aalawfi 3:25c6bf0abc00 179 if (controllerOutputLeft < 0.0){
aalawfi 3:25c6bf0abc00 180 brakeLeft = 1;
aalawfi 3:25c6bf0abc00 181 } else {
aalawfi 3:25c6bf0abc00 182 brakeLeft = 0;
aalawfi 3:25c6bf0abc00 183 }
aalawfi 3:25c6bf0abc00 184
aalawfi 3:25c6bf0abc00 185 if (controllerOutputRight < 0.0){
aalawfi 3:25c6bf0abc00 186 brakeRight = 1;
aalawfi 3:25c6bf0abc00 187 } else {
aalawfi 3:25c6bf0abc00 188 brakeRight = 0;
aalawfi 3:25c6bf0abc00 189 }
aalawfi 3:25c6bf0abc00 190 */
aalawfi 9:5320c2dfb913 191 }
aalawfi 10:b0999f69c775 192 else {
aalawfi 10:b0999f69c775 193 motorLeft.write(0.0);
aalawfi 10:b0999f69c775 194 motorRight.write(0.0);
aalawfi 10:b0999f69c775 195 }
aalawfi 3:25c6bf0abc00 196 }