Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

driving.h@8:cca7647cdb4b, 2021-10-25 (annotated)

Committer:
quarren42
Date:
Mon Oct 25 18:48:17 2021 +0000
Revision:
8:cca7647cdb4b
Parent:
6:d2bd68ba99c9
Child:
9:5320c2dfb913
ko, ikj,

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 3:25c6bf0abc00 59
aalawfi 5:636c3fe18aa8 60 volatile bool motor_enabled = true;
aalawfi 5:636c3fe18aa8 61 void PI(void) { //motor PI interrupt
quarren42 6:d2bd68ba99c9 62
quarren42 6:d2bd68ba99c9 63 if(motor_enabled == true) {
quarren42 6:d2bd68ba99c9 64 setpointLeft = 0.0;
quarren42 6:d2bd68ba99c9 65 setpointRight = 0.0;
quarren42 6:d2bd68ba99c9 66 }
quarren42 6:d2bd68ba99c9 67
aalawfi 5:636c3fe18aa8 68 //--- Calculate Error ---
aalawfi 5:636c3fe18aa8 69 errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
aalawfi 5:636c3fe18aa8 70 errorRight = setpointRight - (speedRightVolt / 3.3f);
aalawfi 5:636c3fe18aa8 71
aalawfi 5:636c3fe18aa8 72 //--- Steady State Error Tolerace ---
aalawfi 5:636c3fe18aa8 73 if (abs(errorLeft) < 0.01){
aalawfi 5:636c3fe18aa8 74 errorLeft = 0.0;
aalawfi 5:636c3fe18aa8 75 }
aalawfi 5:636c3fe18aa8 76 if (abs(errorRight) < 0.01){
aalawfi 5:636c3fe18aa8 77 errorRight = 0.0;
aalawfi 5:636c3fe18aa8 78 }
aalawfi 5:636c3fe18aa8 79 //--- Calculate integral error ---
aalawfi 5:636c3fe18aa8 80 if (clampLeft == false){
aalawfi 5:636c3fe18aa8 81 errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
aalawfi 5:636c3fe18aa8 82 }
aalawfi 5:636c3fe18aa8 83
aalawfi 5:636c3fe18aa8 84 if (clampRight == false){
aalawfi 5:636c3fe18aa8 85 errorAreaRight = TI*errorRight + errorAreaRightPrev;
aalawfi 5:636c3fe18aa8 86 }
aalawfi 5:636c3fe18aa8 87
aalawfi 5:636c3fe18aa8 88 errorAreaLeftPrev = errorAreaLeft;
aalawfi 5:636c3fe18aa8 89 errorAreaRightPrev = errorAreaRight;
aalawfi 5:636c3fe18aa8 90
aalawfi 5:636c3fe18aa8 91 /*
aalawfi 5:636c3fe18aa8 92 if (errorAreaLeft > 0.1){
aalawfi 5:636c3fe18aa8 93 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 94 }
aalawfi 5:636c3fe18aa8 95 p
aalawfi 5:636c3fe18aa8 96 if (errorAreaRight > 0.1){
aalawfi 5:636c3fe18aa8 97 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 98 }
aalawfi 5:636c3fe18aa8 99 */
aalawfi 5:636c3fe18aa8 100
aalawfi 5:636c3fe18aa8 101 //--- Calculate total error ---
aalawfi 5:636c3fe18aa8 102 controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
aalawfi 5:636c3fe18aa8 103 controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
aalawfi 5:636c3fe18aa8 104
aalawfi 5:636c3fe18aa8 105 tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
aalawfi 5:636c3fe18aa8 106 tempDutyCycleRight = fullBatScalar * controllerOutputRight;
aalawfi 5:636c3fe18aa8 107
aalawfi 5:636c3fe18aa8 108
aalawfi 5:636c3fe18aa8 109 //--- Motor over-voltage safety ---
aalawfi 5:636c3fe18aa8 110 if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason -
aalawfi 5:636c3fe18aa8 111 dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
aalawfi 5:636c3fe18aa8 112 } else {
aalawfi 5:636c3fe18aa8 113 dutyCycleLeft = tempDutyCycleLeft;
aalawfi 5:636c3fe18aa8 114 }
aalawfi 5:636c3fe18aa8 115
aalawfi 5:636c3fe18aa8 116 if (tempDutyCycleRight > fullBatScalar){
aalawfi 5:636c3fe18aa8 117 dutyCycleRight = fullBatScalar;
aalawfi 5:636c3fe18aa8 118 } else {
aalawfi 5:636c3fe18aa8 119 dutyCycleRight = tempDutyCycleRight;
aalawfi 5:636c3fe18aa8 120 }
aalawfi 5:636c3fe18aa8 121
aalawfi 5:636c3fe18aa8 122
aalawfi 5:636c3fe18aa8 123 //--- integral anti-windup ---
aalawfi 5:636c3fe18aa8 124 if (controllerOutputLeft > 1.0){
aalawfi 5:636c3fe18aa8 125 if (errorAreaLeft > 0.0){
aalawfi 5:636c3fe18aa8 126 clampLeft = true;
aalawfi 5:636c3fe18aa8 127 }
aalawfi 5:636c3fe18aa8 128 if (errorAreaLeft < 0.0){
aalawfi 5:636c3fe18aa8 129 clampLeft = false;
aalawfi 5:636c3fe18aa8 130 }
aalawfi 5:636c3fe18aa8 131 } else {
aalawfi 5:636c3fe18aa8 132 clampLeft = false;
aalawfi 5:636c3fe18aa8 133 }
aalawfi 5:636c3fe18aa8 134
aalawfi 5:636c3fe18aa8 135 if (controllerOutputRight > 1.0){
aalawfi 5:636c3fe18aa8 136 if (errorAreaRight > 0.0){
aalawfi 5:636c3fe18aa8 137 clampRight = true;
aalawfi 5:636c3fe18aa8 138 }
aalawfi 5:636c3fe18aa8 139 if (errorAreaRight < 0.0){
aalawfi 5:636c3fe18aa8 140 clampRight = false;
aalawfi 5:636c3fe18aa8 141 }
aalawfi 5:636c3fe18aa8 142 } else {
aalawfi 5:636c3fe18aa8 143 clampRight = false;
aalawfi 5:636c3fe18aa8 144 }
aalawfi 5:636c3fe18aa8 145
aalawfi 5:636c3fe18aa8 146 //--- fucked up manual braking stuff ---
aalawfi 5:636c3fe18aa8 147 if (setpointLeft == 0.0 || brakeLeftBool == true)
aalawfi 5:636c3fe18aa8 148 {
aalawfi 5:636c3fe18aa8 149 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 150 brakeLeft = 1;
aalawfi 5:636c3fe18aa8 151 } else {
aalawfi 5:636c3fe18aa8 152 brakeLeft = 0;
aalawfi 5:636c3fe18aa8 153 }
aalawfi 5:636c3fe18aa8 154
aalawfi 5:636c3fe18aa8 155 if (setpointRight == 0.0 || brakeRightBool == true)
aalawfi 5:636c3fe18aa8 156 {
aalawfi 5:636c3fe18aa8 157 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 158 brakeRight = 1;
aalawfi 5:636c3fe18aa8 159 } else {
aalawfi 5:636c3fe18aa8 160 brakeRight = 0;
aalawfi 5:636c3fe18aa8 161 }
aalawfi 5:636c3fe18aa8 162
aalawfi 5:636c3fe18aa8 163 //--- set motors to calculated output ---
aalawfi 5:636c3fe18aa8 164 motorLeft.write(dutyCycleLeft);
aalawfi 5:636c3fe18aa8 165 motorRight.write(dutyCycleRight);
aalawfi 3:25c6bf0abc00 166 //--- motor braking ---
aalawfi 3:25c6bf0abc00 167 /*
aalawfi 3:25c6bf0abc00 168 if (controllerOutputLeft < 0.0){
aalawfi 3:25c6bf0abc00 169 brakeLeft = 1;
aalawfi 3:25c6bf0abc00 170 } else {
aalawfi 3:25c6bf0abc00 171 brakeLeft = 0;
aalawfi 3:25c6bf0abc00 172 }
aalawfi 3:25c6bf0abc00 173
aalawfi 3:25c6bf0abc00 174 if (controllerOutputRight < 0.0){
aalawfi 3:25c6bf0abc00 175 brakeRight = 1;
aalawfi 3:25c6bf0abc00 176 } else {
aalawfi 3:25c6bf0abc00 177 brakeRight = 0;
aalawfi 3:25c6bf0abc00 178 }
aalawfi 3:25c6bf0abc00 179 */
aalawfi 3:25c6bf0abc00 180
aalawfi 3:25c6bf0abc00 181
aalawfi 3:25c6bf0abc00 182 }