Elct Car Team / Mbed 2 deprecated CarLab

first commit

Dependencies:   mbed MMA8451Q

driving.h@31:d570f957e083, 2021-11-22 (annotated)

Committer:
aalawfi
Date:
Mon Nov 22 21:44:10 2021 +0000
Revision:
31:d570f957e083
Parent:
30:ab358e8a9e6a
Child:
32:ec8c9a82d9fc
- close to 12.15

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;
aalawfi 31:d570f957e083 61 Timer laptimer;
quarren42 30:ab358e8a9e6a 62
aalawfi 3:25c6bf0abc00 63 bool clampLeft = false;
aalawfi 3:25c6bf0abc00 64 bool clampRight = false;
quarren42 30:ab358e8a9e6a 65 bool override = false;
aalawfi 3:25c6bf0abc00 66
aalawfi 3:25c6bf0abc00 67 bool brakeLeftBool = false;
aalawfi 3:25c6bf0abc00 68 bool brakeRightBool = false;
aalawfi 3:25c6bf0abc00 69
aalawfi 13:0091da3021df 70 volatile bool are_brakes_activated; // Used for debugging
aalawfi 11:210a33ee774f 71 void disable_brakes(void){
aalawfi 13:0091da3021df 72 are_brakes_activated = false;
aalawfi 11:210a33ee774f 73 brakeLeft=0;
aalawfi 11:210a33ee774f 74 brakeRight=0;
aalawfi 11:210a33ee774f 75 };
aalawfi 11:210a33ee774f 76 void enable_brakes(void) {
aalawfi 13:0091da3021df 77 are_brakes_activated = true;
aalawfi 11:210a33ee774f 78 brakeLeft = 1;
aalawfi 11:210a33ee774f 79 brakeRight = 1;
quarren42 30:ab358e8a9e6a 80 // errorAreaRight = 0.0;
quarren42 30:ab358e8a9e6a 81 // errorAreaLeft = 0.0;
aalawfi 11:210a33ee774f 82 };
quarren42 30:ab358e8a9e6a 83 void _tempBraking(void){
aalawfi 26:54ce9f642477 84
aalawfi 26:54ce9f642477 85 }
aalawfi 3:25c6bf0abc00 86
quarren42 30:ab358e8a9e6a 87
aalawfi 10:b0999f69c775 88 /*
aalawfi 10:b0999f69c775 89 Always set duty cycle to zero (disabling the motor), unless the motor is enabled
aalawfi 10:b0999f69c775 90 (motor_enabled = true);
aalawfi 10:b0999f69c775 91 BY default, the motor is disabled (duty cycle is zero)
aalawfi 10:b0999f69c775 92 */
aalawfi 10:b0999f69c775 93
aalawfi 9:5320c2dfb913 94 volatile bool motor_enabled = false;
aalawfi 5:636c3fe18aa8 95 void PI(void) { //motor PI interrupt
quarren42 17:d2c98ebda90b 96
quarren42 17:d2c98ebda90b 97 speedLeftVolt = (speedSensorLeft.read() * 3.3f);
quarren42 17:d2c98ebda90b 98 speedRightVolt = (speedSensorRight.read() * 3.3f);
quarren42 17:d2c98ebda90b 99
aalawfi 26:54ce9f642477 100
aalawfi 26:54ce9f642477 101 //_steering();
aalawfi 26:54ce9f642477 102
aalawfi 10:b0999f69c775 103 if(motor_enabled == true) {
aalawfi 31:d570f957e083 104 if(lap == 0 & counter < 7)
aalawfi 25:8bd029d58251 105 {
quarren42 30:ab358e8a9e6a 106 setpointLeft = 0.15;
quarren42 30:ab358e8a9e6a 107 setpointRight = 0.15;
aalawfi 25:8bd029d58251 108 }
aalawfi 31:d570f957e083 109 else if (counter == 7 & lap == 0)
quarren42 30:ab358e8a9e6a 110 {
aalawfi 31:d570f957e083 111 setpointLeft = 0.32; //0.4 is too fast on sraightaway
aalawfi 31:d570f957e083 112 setpointRight = 0.32; //0.25 is good
quarren42 30:ab358e8a9e6a 113 }
quarren42 30:ab358e8a9e6a 114 else if (counter == 1 & lap == 1)
aalawfi 25:8bd029d58251 115 {
aalawfi 31:d570f957e083 116 setpointLeft = 0.24;
aalawfi 31:d570f957e083 117 setpointRight = 0.24;
quarren42 30:ab358e8a9e6a 118 enable_brakes(); //uncomment out to brake on big turn
quarren42 30:ab358e8a9e6a 119 t.start();
aalawfi 31:d570f957e083 120 if (t.read_ms() > 250)
quarren42 30:ab358e8a9e6a 121 {
quarren42 30:ab358e8a9e6a 122 disable_brakes();
quarren42 30:ab358e8a9e6a 123 t.stop();
quarren42 30:ab358e8a9e6a 124 }
quarren42 30:ab358e8a9e6a 125 }
quarren42 30:ab358e8a9e6a 126 else if (counter == 4 & lap == 1)
quarren42 30:ab358e8a9e6a 127 {
aalawfi 31:d570f957e083 128 setpointLeft = 0.24;
aalawfi 31:d570f957e083 129 setpointRight = 0.24;
aalawfi 25:8bd029d58251 130 }
quarren42 30:ab358e8a9e6a 131
quarren42 30:ab358e8a9e6a 132 else if(counter == 5 && lap == 1)
aalawfi 25:8bd029d58251 133 {
aalawfi 31:d570f957e083 134 enable_brakes();
aalawfi 31:d570f957e083 135 t.start();
aalawfi 31:d570f957e083 136
aalawfi 31:d570f957e083 137 if (t.read_ms() > 50)
aalawfi 31:d570f957e083 138 {
aalawfi 31:d570f957e083 139 disable_brakes();
aalawfi 31:d570f957e083 140 t.stop();
aalawfi 31:d570f957e083 141 }
aalawfi 31:d570f957e083 142 setpointLeft = 0.22;
aalawfi 31:d570f957e083 143 setpointRight = 0.22;
aalawfi 25:8bd029d58251 144 }
aalawfi 31:d570f957e083 145 else if(counter == 3 && lap == 1 )
aalawfi 31:d570f957e083 146 {
aalawfi 31:d570f957e083 147 enable_brakes();
aalawfi 31:d570f957e083 148 t.start();
aalawfi 31:d570f957e083 149
aalawfi 31:d570f957e083 150 if (t.read_ms() > 200)
aalawfi 31:d570f957e083 151 {
aalawfi 31:d570f957e083 152 disable_brakes();
aalawfi 31:d570f957e083 153 t.stop();
aalawfi 31:d570f957e083 154 }
aalawfi 31:d570f957e083 155 }
aalawfi 31:d570f957e083 156 else if(counter == 7 && lap == 1 )
aalawfi 31:d570f957e083 157 {
aalawfi 31:d570f957e083 158 enable_brakes();
aalawfi 31:d570f957e083 159 t.start();
aalawfi 31:d570f957e083 160
aalawfi 31:d570f957e083 161 if (t.read_ms() > 80)
aalawfi 31:d570f957e083 162 {
aalawfi 31:d570f957e083 163 disable_brakes();
aalawfi 31:d570f957e083 164 t.stop();
aalawfi 31:d570f957e083 165 }
aalawfi 31:d570f957e083 166 }
quarren42 30:ab358e8a9e6a 167 else if (lap >= 2)
aalawfi 25:8bd029d58251 168 {
quarren42 30:ab358e8a9e6a 169 setpointLeft = 0.15;
quarren42 30:ab358e8a9e6a 170 setpointRight = 0.15;
aalawfi 25:8bd029d58251 171 }
quarren42 30:ab358e8a9e6a 172
quarren42 30:ab358e8a9e6a 173 else {
aalawfi 31:d570f957e083 174 setpointLeft = 0.24;
aalawfi 31:d570f957e083 175 setpointRight = 0.24;
quarren42 30:ab358e8a9e6a 176 }
quarren42 30:ab358e8a9e6a 177
quarren42 30:ab358e8a9e6a 178
aalawfi 31:d570f957e083 179
aalawfi 23:4c743746533c 180 // setpointLeft = 0.1;
aalawfi 23:4c743746533c 181 // setpointRight = 0.1;
aalawfi 10:b0999f69c775 182 //--- Calculate Error ---
aalawfi 10:b0999f69c775 183 errorLeft = setpointLeft - (speedLeftVolt / 3.3f); //error and setpoint is defined as a percentage, from 0 to 1
aalawfi 10:b0999f69c775 184 errorRight = setpointRight - (speedRightVolt / 3.3f);
aalawfi 10:b0999f69c775 185 //--- Steady State Error Tolerace ---
aalawfi 10:b0999f69c775 186 if (abs(errorLeft) < 0.01){
aalawfi 10:b0999f69c775 187 errorLeft = 0.0;
aalawfi 10:b0999f69c775 188 }
aalawfi 10:b0999f69c775 189 if (abs(errorRight) < 0.01){
aalawfi 10:b0999f69c775 190 errorRight = 0.0;
aalawfi 10:b0999f69c775 191 }
aalawfi 10:b0999f69c775 192 //--- Calculate integral error ---
aalawfi 10:b0999f69c775 193 if (clampLeft == false){
aalawfi 5:636c3fe18aa8 194 errorAreaLeft = TI*errorLeft + errorAreaLeftPrev;
aalawfi 10:b0999f69c775 195 }
aalawfi 10:b0999f69c775 196 if (clampRight == false){
aalawfi 10:b0999f69c775 197 errorAreaRight = TI*errorRight + errorAreaRightPrev;
aalawfi 10:b0999f69c775 198 }
aalawfi 10:b0999f69c775 199 errorAreaLeftPrev = errorAreaLeft;
aalawfi 10:b0999f69c775 200 errorAreaRightPrev = errorAreaRight;
aalawfi 26:54ce9f642477 201
aalawfi 5:636c3fe18aa8 202 /*
aalawfi 5:636c3fe18aa8 203 if (errorAreaLeft > 0.1){
aalawfi 5:636c3fe18aa8 204 errorAreaLeft = 0.0;
aalawfi 5:636c3fe18aa8 205 }
aalawfi 5:636c3fe18aa8 206 p
aalawfi 5:636c3fe18aa8 207 if (errorAreaRight > 0.1){
aalawfi 5:636c3fe18aa8 208 errorAreaRight = 0.0;
aalawfi 5:636c3fe18aa8 209 }
aalawfi 5:636c3fe18aa8 210 */
aalawfi 5:636c3fe18aa8 211
aalawfi 5:636c3fe18aa8 212 //--- Calculate total error ---
aalawfi 10:b0999f69c775 213 controllerOutputLeft = KP_LEFT*errorLeft + KI_LEFT*errorAreaLeft;
aalawfi 10:b0999f69c775 214 controllerOutputRight = KP_RIGHT*errorRight + KI_RIGHT*errorAreaRight;
aalawfi 10:b0999f69c775 215 tempDutyCycleLeft = fullBatScalar * controllerOutputLeft;
aalawfi 10:b0999f69c775 216 tempDutyCycleRight = fullBatScalar * controllerOutputRight;
aalawfi 10:b0999f69c775 217 //--- Motor over-voltage safety ---
aalawfi 10:b0999f69c775 218 if (tempDutyCycleLeft > fullBatScalar){ //safety mechanism in case feedback breaks for any reason -
aalawfi 10:b0999f69c775 219 dutyCycleLeft = fullBatScalar; //will stop output from exceeding max duty cycle and damaging motor
aalawfi 10:b0999f69c775 220 } else {
aalawfi 10:b0999f69c775 221 dutyCycleLeft = tempDutyCycleLeft;
aalawfi 5:636c3fe18aa8 222 }
aalawfi 10:b0999f69c775 223 if (tempDutyCycleRight > fullBatScalar){
aalawfi 10:b0999f69c775 224 dutyCycleRight = fullBatScalar;
aalawfi 10:b0999f69c775 225 } else {
aalawfi 10:b0999f69c775 226 dutyCycleRight = tempDutyCycleRight;
aalawfi 10:b0999f69c775 227 }
aalawfi 10:b0999f69c775 228 //--- integral anti-windup ---
aalawfi 10:b0999f69c775 229 if (controllerOutputLeft > 1.0){
aalawfi 10:b0999f69c775 230 if (errorAreaLeft > 0.0){
aalawfi 10:b0999f69c775 231 clampLeft = true;
aalawfi 5:636c3fe18aa8 232 }
aalawfi 10:b0999f69c775 233 if (errorAreaLeft < 0.0){
aalawfi 10:b0999f69c775 234 clampLeft = false;
aalawfi 10:b0999f69c775 235 }
aalawfi 10:b0999f69c775 236 } else {
aalawfi 10:b0999f69c775 237 clampLeft = false;
aalawfi 5:636c3fe18aa8 238 }
aalawfi 5:636c3fe18aa8 239
aalawfi 5:636c3fe18aa8 240 if (controllerOutputRight > 1.0){
aalawfi 5:636c3fe18aa8 241 if (errorAreaRight > 0.0){
aalawfi 5:636c3fe18aa8 242 clampRight = true;
aalawfi 5:636c3fe18aa8 243 }
aalawfi 5:636c3fe18aa8 244 if (errorAreaRight < 0.0){
aalawfi 5:636c3fe18aa8 245 clampRight = false;
aalawfi 5:636c3fe18aa8 246 }
aalawfi 5:636c3fe18aa8 247 } else {
aalawfi 5:636c3fe18aa8 248 clampRight = false;
aalawfi 5:636c3fe18aa8 249 }
aalawfi 5:636c3fe18aa8 250
aalawfi 26:54ce9f642477 251
quarren42 17:d2c98ebda90b 252
quarren42 30:ab358e8a9e6a 253 //--- set motors to calculated output ---
quarren42 17:d2c98ebda90b 254 motorLeft.write(dutyCycleLeft); // 0.2 For debugging
quarren42 17:d2c98ebda90b 255 motorRight.write(dutyCycleRight);
aalawfi 9:5320c2dfb913 256
aalawfi 3:25c6bf0abc00 257 //--- motor braking ---
aalawfi 3:25c6bf0abc00 258 /*
aalawfi 3:25c6bf0abc00 259 if (controllerOutputLeft < 0.0){
aalawfi 3:25c6bf0abc00 260 brakeLeft = 1;
aalawfi 3:25c6bf0abc00 261 } else {
aalawfi 3:25c6bf0abc00 262 brakeLeft = 0;
aalawfi 3:25c6bf0abc00 263 }
aalawfi 3:25c6bf0abc00 264
aalawfi 3:25c6bf0abc00 265 if (controllerOutputRight < 0.0){
aalawfi 3:25c6bf0abc00 266 brakeRight = 1;
aalawfi 3:25c6bf0abc00 267 } else {
aalawfi 3:25c6bf0abc00 268 brakeRight = 0;
aalawfi 3:25c6bf0abc00 269 }
aalawfi 3:25c6bf0abc00 270 */
aalawfi 9:5320c2dfb913 271 }
aalawfi 10:b0999f69c775 272 else {
aalawfi 10:b0999f69c775 273 motorLeft.write(0.0);
aalawfi 10:b0999f69c775 274 motorRight.write(0.0);
aalawfi 10:b0999f69c775 275 }
aalawfi 3:25c6bf0abc00 276 }