Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

driving.h@30:ab358e8a9e6a, 2021-11-19 (annotated)

Committer:
quarren42
Date:
Fri Nov 19 22:53:54 2021 +0000
Revision:
30:ab358e8a9e6a
Parent:
28:1c2eb25d624e
Child:
31:d570f957e083
go zoom zoom on straightaway

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 18:831c1e03d83e 14 #define freq 25000.0f
quarren42 1:c324a2849500 15
quarren42 1:c324a2849500 16 #define fullBatScalar 0.5873f
quarren42 1:c324a2849500 17 #define speedSensorScalar 2.5f
quarren42 21:9e6ddb590103 18 #define battDividerScalar 4.2;
quarren42 6:d2bd68ba99c9 19
quarren42 30:ab358e8a9e6a 20 #define constSpeed = 0.17;
quarren42 30:ab358e8a9e6a 21
quarren42 8:cca7647cdb4b 22 AnalogIn pot1(PTB2); //was PTB0
aalawfi 16:8cd4dd323941 23 // Motor Left is PTE20
aalawfi 16:8cd4dd323941 24 // Motor right is pte 21
quarren42 8:cca7647cdb4b 25 PwmOut motorLeft(PTE20); //was PTB1
quarren42 8:cca7647cdb4b 26 PwmOut motorRight(PTE21); //was PTB2
aalawfi 16:8cd4dd323941 27 // left is ptb3
aalawfi 16:8cd4dd323941 28 // right is ptc 2
aalawfi 3:25c6bf0abc00 29 AnalogIn speedSensorLeft(PTB3);
aalawfi 3:25c6bf0abc00 30 AnalogIn speedSensorRight(PTC2);
aalawfi 3:25c6bf0abc00 31 DigitalOut ledRed(LED1);
aalawfi 3:25c6bf0abc00 32 AnalogIn battInput(PTC1);
aalawfi 16:8cd4dd323941 33 // left brake is pta12
aalawfi 16:8cd4dd323941 34 // right brake is pta4
aalawfi 3:25c6bf0abc00 35 DigitalOut brakeLeft(PTA12);
quarren42 8:cca7647cdb4b 36 DigitalOut brakeRight(PTA4); //was PTD4
aalawfi 3:25c6bf0abc00 37
aalawfi 3:25c6bf0abc00 38 float pot1Voltage;
aalawfi 3:25c6bf0abc00 39 float dutyCycleLeft;
aalawfi 3:25c6bf0abc00 40 float tempDutyCycleLeft = 0;
aalawfi 3:25c6bf0abc00 41 float tempDutyCycleRight = 0;
aalawfi 3:25c6bf0abc00 42 float dutyCycleRight;
aalawfi 3:25c6bf0abc00 43 float speedLeftVolt;
aalawfi 3:25c6bf0abc00 44 float speedRightVolt;
aalawfi 3:25c6bf0abc00 45 float batteryVoltage;
aalawfi 3:25c6bf0abc00 46 float avgCellVoltage;
aalawfi 3:25c6bf0abc00 47
aalawfi 3:25c6bf0abc00 48 float errorAreaLeft = 0;
aalawfi 3:25c6bf0abc00 49 float errorAreaRight = 0;
aalawfi 3:25c6bf0abc00 50 float errorAreaLeftPrev = 0;
aalawfi 3:25c6bf0abc00 51 float errorAreaRightPrev = 0;
aalawfi 3:25c6bf0abc00 52 float errorLeft = 0;
aalawfi 3:25c6bf0abc00 53 float errorRight = 0;
aalawfi 3:25c6bf0abc00 54 float setpointLeft = 0.0; //target speed, 0.0 to 1.0
aalawfi 3:25c6bf0abc00 55 float setpointRight = 0.0;
aalawfi 3:25c6bf0abc00 56 float controllerOutputLeft = 0;
aalawfi 3:25c6bf0abc00 57 float controllerOutputRight = 0;
aalawfi 3:25c6bf0abc00 58 float x;
aalawfi 3:25c6bf0abc00 59
quarren42 30:ab358e8a9e6a 60 Timer t;
quarren42 30:ab358e8a9e6a 61
aalawfi 3:25c6bf0abc00 62 bool clampLeft = false;
aalawfi 3:25c6bf0abc00 63 bool clampRight = false;
quarren42 30:ab358e8a9e6a 64 bool override = false;
aalawfi 3:25c6bf0abc00 65
aalawfi 3:25c6bf0abc00 66 bool brakeLeftBool = false;
aalawfi 3:25c6bf0abc00 67 bool brakeRightBool = false;
aalawfi 3:25c6bf0abc00 68
aalawfi 13:0091da3021df 69 volatile bool are_brakes_activated; // Used for debugging
aalawfi 11:210a33ee774f 70 void disable_brakes(void){
aalawfi 13:0091da3021df 71 are_brakes_activated = false;
aalawfi 11:210a33ee774f 72 brakeLeft=0;
aalawfi 11:210a33ee774f 73 brakeRight=0;
aalawfi 11:210a33ee774f 74 };
aalawfi 11:210a33ee774f 75 void enable_brakes(void) {
aalawfi 13:0091da3021df 76 are_brakes_activated = true;
aalawfi 11:210a33ee774f 77 brakeLeft = 1;
aalawfi 11:210a33ee774f 78 brakeRight = 1;
quarren42 30:ab358e8a9e6a 79 // errorAreaRight = 0.0;
quarren42 30:ab358e8a9e6a 80 // errorAreaLeft = 0.0;
aalawfi 11:210a33ee774f 81 };
quarren42 30:ab358e8a9e6a 82 void _tempBraking(void){
aalawfi 26:54ce9f642477 83
aalawfi 26:54ce9f642477 84 }
aalawfi 3:25c6bf0abc00 85
quarren42 30:ab358e8a9e6a 86
aalawfi 10:b0999f69c775 87 /*
aalawfi 10:b0999f69c775 88 Always set duty cycle to zero (disabling the motor), unless the motor is enabled
aalawfi 10:b0999f69c775 89 (motor_enabled = true);
aalawfi 10:b0999f69c775 90 BY default, the motor is disabled (duty cycle is zero)
aalawfi 10:b0999f69c775 91 */
aalawfi 10:b0999f69c775 92
aalawfi 9:5320c2dfb913 93 volatile bool motor_enabled = false;
aalawfi 5:636c3fe18aa8 94 void PI(void) { //motor PI interrupt
quarren42 17:d2c98ebda90b 95
quarren42 17:d2c98ebda90b 96 speedLeftVolt = (speedSensorLeft.read() * 3.3f);
quarren42 17:d2c98ebda90b 97 speedRightVolt = (speedSensorRight.read() * 3.3f);
quarren42 17:d2c98ebda90b 98
aalawfi 26:54ce9f642477 99
aalawfi 26:54ce9f642477 100 //_steering();
aalawfi 26:54ce9f642477 101
aalawfi 10:b0999f69c775 102 if(motor_enabled == true) {
quarren42 30:ab358e8a9e6a 103 if(lap == 0)
aalawfi 25:8bd029d58251 104 {
quarren42 30:ab358e8a9e6a 105 setpointLeft = 0.15;
quarren42 30:ab358e8a9e6a 106 setpointRight = 0.15;
aalawfi 25:8bd029d58251 107 }
quarren42 30:ab358e8a9e6a 108 else if (counter == 0 & lap == 1)
quarren42 30:ab358e8a9e6a 109 {
quarren42 30:ab358e8a9e6a 110 setpointLeft = 0.3; //0.4 is too fast on sraightaway
quarren42 30:ab358e8a9e6a 111 setpointRight = 0.3; //0.25 is good
quarren42 30:ab358e8a9e6a 112 }
quarren42 30:ab358e8a9e6a 113 else if (counter == 1 & lap == 1)
aalawfi 25:8bd029d58251 114 {
quarren42 30:ab358e8a9e6a 115 setpointLeft = 0.2;
quarren42 30:ab358e8a9e6a 116 setpointRight = 0.2;
quarren42 30:ab358e8a9e6a 117 enable_brakes(); //uncomment out to brake on big turn
quarren42 30:ab358e8a9e6a 118 t.start();
quarren42 30:ab358e8a9e6a 119 if (t.read_ms() > 400)
quarren42 30:ab358e8a9e6a 120 {
quarren42 30:ab358e8a9e6a 121 disable_brakes();
quarren42 30:ab358e8a9e6a 122 t.stop();
quarren42 30:ab358e8a9e6a 123 }
quarren42 30:ab358e8a9e6a 124 }
quarren42 30:ab358e8a9e6a 125 else if (counter == 4 & lap == 1)
quarren42 30:ab358e8a9e6a 126 {
quarren42 30:ab358e8a9e6a 127 setpointLeft = 0.2;
quarren42 30:ab358e8a9e6a 128 setpointRight = 0.2;
aalawfi 25:8bd029d58251 129 }
quarren42 30:ab358e8a9e6a 130
quarren42 30:ab358e8a9e6a 131 else if(counter == 5 && lap == 1)
aalawfi 25:8bd029d58251 132 {
quarren42 30:ab358e8a9e6a 133 setpointLeft = 0.2;
quarren42 30:ab358e8a9e6a 134 setpointRight = 0.2;
aalawfi 25:8bd029d58251 135 }
quarren42 30:ab358e8a9e6a 136 else if (lap >= 2)
aalawfi 25:8bd029d58251 137 {
quarren42 30:ab358e8a9e6a 138 setpointLeft = 0.15;
quarren42 30:ab358e8a9e6a 139 setpointRight = 0.15;
aalawfi 25:8bd029d58251 140 }
quarren42 30:ab358e8a9e6a 141
quarren42 30:ab358e8a9e6a 142 else {
quarren42 30:ab358e8a9e6a 143 setpointLeft = 0.2;
quarren42 30:ab358e8a9e6a 144 setpointRight = 0.2;
quarren42 30:ab358e8a9e6a 145 }
quarren42 30:ab358e8a9e6a 146
quarren42 30:ab358e8a9e6a 147
quarren42 30:ab358e8a9e6a 148
quarren42 30:ab358e8a9e6a 149
quarren42 30:ab358e8a9e6a 150
quarren42 30:ab358e8a9e6a 151
quarren42 30:ab358e8a9e6a 152
quarren42 30:ab358e8a9e6a 153
quarren42 30:ab358e8a9e6a 154
quarren42 30:ab358e8a9e6a 155
aalawfi 23:4c743746533c 156 // setpointLeft = 0.1;
aalawfi 23:4c743746533c 157 // setpointRight = 0.1;
aalawfi 10:b0999f69c775 158 //--- Calculate Error ---
aalawfi 10:b0999f69c775 159 errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
aalawfi 10:b0999f69c775 160 errorRight = setpointRight - (speedRightVolt / 3.3f);
aalawfi 10:b0999f69c775 161 //--- Steady State Error Tolerace ---
aalawfi 10:b0999f69c775 162 if (abs(errorLeft) < 0.01){
aalawfi 10:b0999f69c775 163 errorLeft = 0.0;
aalawfi 10:b0999f69c775 164 }
aalawfi 10:b0999f69c775 165 if (abs(errorRight) < 0.01){
aalawfi 10:b0999f69c775 166 errorRight = 0.0;
aalawfi 10:b0999f69c775 167 }
aalawfi 10:b0999f69c775 168 //--- Calculate integral error ---
aalawfi 10:b0999f69c775 169 if (clampLeft == false){
aalawfi 5:636c3fe18aa8 170 errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
aalawfi 10:b0999f69c775 171 }
aalawfi 10:b0999f69c775 172 if (clampRight == false){
aalawfi 10:b0999f69c775 173 errorAreaRight = TI*errorRight + errorAreaRightPrev;
aalawfi 10:b0999f69c775 174 }
aalawfi 10:b0999f69c775 175 errorAreaLeftPrev = errorAreaLeft;
aalawfi 10:b0999f69c775 176 errorAreaRightPrev = errorAreaRight;
aalawfi 26:54ce9f642477 177
aalawfi 5:636c3fe18aa8 178 /*
aalawfi 5:636c3fe18aa8 179 if (errorAreaLeft > 0.1){
aalawfi 5:636c3fe18aa8 180 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 181 }
aalawfi 5:636c3fe18aa8 182 p
aalawfi 5:636c3fe18aa8 183 if (errorAreaRight > 0.1){
aalawfi 5:636c3fe18aa8 184 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 185 }
aalawfi 5:636c3fe18aa8 186 */
aalawfi 5:636c3fe18aa8 187
aalawfi 5:636c3fe18aa8 188 //--- Calculate total error ---
aalawfi 10:b0999f69c775 189 controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
aalawfi 10:b0999f69c775 190 controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
aalawfi 10:b0999f69c775 191 tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
aalawfi 10:b0999f69c775 192 tempDutyCycleRight = fullBatScalar * controllerOutputRight;
aalawfi 10:b0999f69c775 193 //--- Motor over-voltage safety ---
aalawfi 10:b0999f69c775 194 if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason -
aalawfi 10:b0999f69c775 195 dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
aalawfi 10:b0999f69c775 196 } else {
aalawfi 10:b0999f69c775 197 dutyCycleLeft = tempDutyCycleLeft;
aalawfi 5:636c3fe18aa8 198 }
aalawfi 10:b0999f69c775 199 if (tempDutyCycleRight > fullBatScalar){
aalawfi 10:b0999f69c775 200 dutyCycleRight = fullBatScalar;
aalawfi 10:b0999f69c775 201 } else {
aalawfi 10:b0999f69c775 202 dutyCycleRight = tempDutyCycleRight;
aalawfi 10:b0999f69c775 203 }
aalawfi 10:b0999f69c775 204 //--- integral anti-windup ---
aalawfi 10:b0999f69c775 205 if (controllerOutputLeft > 1.0){
aalawfi 10:b0999f69c775 206 if (errorAreaLeft > 0.0){
aalawfi 10:b0999f69c775 207 clampLeft = true;
aalawfi 5:636c3fe18aa8 208 }
aalawfi 10:b0999f69c775 209 if (errorAreaLeft < 0.0){
aalawfi 10:b0999f69c775 210 clampLeft = false;
aalawfi 10:b0999f69c775 211 }
aalawfi 10:b0999f69c775 212 } else {
aalawfi 10:b0999f69c775 213 clampLeft = false;
aalawfi 5:636c3fe18aa8 214 }
aalawfi 5:636c3fe18aa8 215
aalawfi 5:636c3fe18aa8 216 if (controllerOutputRight > 1.0){
aalawfi 5:636c3fe18aa8 217 if (errorAreaRight > 0.0){
aalawfi 5:636c3fe18aa8 218 clampRight = true;
aalawfi 5:636c3fe18aa8 219 }
aalawfi 5:636c3fe18aa8 220 if (errorAreaRight < 0.0){
aalawfi 5:636c3fe18aa8 221 clampRight = false;
aalawfi 5:636c3fe18aa8 222 }
aalawfi 5:636c3fe18aa8 223 } else {
aalawfi 5:636c3fe18aa8 224 clampRight = false;
aalawfi 5:636c3fe18aa8 225 }
aalawfi 5:636c3fe18aa8 226
aalawfi 26:54ce9f642477 227
quarren42 17:d2c98ebda90b 228
quarren42 30:ab358e8a9e6a 229 //--- set motors to calculated output ---
quarren42 17:d2c98ebda90b 230 motorLeft.write(dutyCycleLeft); // 0.2 For debugging
quarren42 17:d2c98ebda90b 231 motorRight.write(dutyCycleRight);
aalawfi 9:5320c2dfb913 232
aalawfi 3:25c6bf0abc00 233 //--- motor braking ---
aalawfi 3:25c6bf0abc00 234 /*
aalawfi 3:25c6bf0abc00 235 if (controllerOutputLeft < 0.0){
aalawfi 3:25c6bf0abc00 236 brakeLeft = 1;
aalawfi 3:25c6bf0abc00 237 } else {
aalawfi 3:25c6bf0abc00 238 brakeLeft = 0;
aalawfi 3:25c6bf0abc00 239 }
aalawfi 3:25c6bf0abc00 240
aalawfi 3:25c6bf0abc00 241 if (controllerOutputRight < 0.0){
aalawfi 3:25c6bf0abc00 242 brakeRight = 1;
aalawfi 3:25c6bf0abc00 243 } else {
aalawfi 3:25c6bf0abc00 244 brakeRight = 0;
aalawfi 3:25c6bf0abc00 245 }
aalawfi 3:25c6bf0abc00 246 */
aalawfi 9:5320c2dfb913 247 }
aalawfi 10:b0999f69c775 248 else {
aalawfi 10:b0999f69c775 249 motorLeft.write(0.0);
aalawfi 10:b0999f69c775 250 motorRight.write(0.0);
aalawfi 10:b0999f69c775 251 }
aalawfi 3:25c6bf0abc00 252 }