File content as of revision 10:5bdd3dfd5f59:

float const g= 9.81;//SI
float const r_wheel = 0.038;//SI
float const center_mas = 0.022;//SI (ot osi)
float const mass = 1.3;//SI
float const m_inert = 5e-3;//SI
float const half_axis = 0.08;//SI
float const pi = 3.1415926535;
float const ppr = 3200;//pulses per revolution

float accel = 0.01; //cm/c/50mS - 5 = 1 cm/S^2
float motor_speed[2] = {0,0}; //left, right (real exact current speed of each motor for the next raltime slot)  SI
float gy_old;
float k_1 = 0.5;
float k_2 = 0.5;
float vert;//ugol
float max_speed = 2;
//float delta_v_filtered;
//float gy_f;
//float ax_f;

DigitalOut  dir_left(PC_15);
DigitalOut  dir_right(PA_2);
DigitalOut  motor_enable(PA_0);//sleep inverted
PwmOut step_left(PB_4);
PwmOut step_right(PA_1);

void skorost_1(float linear_acceleration = 0, float angular_acceleration = 0)
{
//    ax_f = 0*ax_f+1*ax;
    float tma;                                                          
    if (linear_acceleration < 5) tma = linear_acceleration;
    else tma = 5;
    if (linear_acceleration > -5) tma = linear_acceleration;
    else tma = -5;
    float sin_phi = (ax)/g;
    float a = (g*sin_phi)/(sqrt(1-sin_phi*sin_phi));
//    float epsilon = gy - gy_old;
//    gy_f = 0*gy_f + 1*gy;

    float delta_v = 2*k_2*a*t_step + k_1*1e-3*gy /*+ accel*/ - tma * t_step; //- 0*1e-3*epsilon - 0*motor_speed[1];

//    delta_v_filtered = 0*delta_v_filtered + 1*delta_v;
    //if (delta_v > 0.01) delta_v = 0.01 ;
    //if (delta_v < -0.01) delta_v = -0.01 ;
    motor_speed[0] += delta_v; //+ rotation_rate*half_axis;
    motor_speed[1] += delta_v; //- rotation_rate*half_axis;

    if (motor_speed[0] > max_speed) motor_speed[0] = max_speed;
    if (motor_speed[0] < -max_speed) motor_speed[0] = -max_speed;
    if (motor_speed[1] > max_speed) motor_speed[1] = max_speed;
    if (motor_speed[1] < -max_speed) motor_speed[1] = -max_speed;


    if (motor_speed[1] > 0) dir_right = 0;
    else dir_right = 1;
    if (motor_speed[0] > 0) dir_left = 1;
    else dir_left = 0;
    float nu_l = abs(motor_speed[0]/(2*pi*r_wheel))*ppr; //frequency in herz
    float nu_r = abs(motor_speed[1]/(2*pi*r_wheel))*ppr; //frequency in herz
    if (nu_l < 1) nu_l = 1;
    if (nu_r < 1) nu_r = 1;
    step_right.period_us (1e6/nu_r);
    step_right = 0.5;
    step_left.period_us (1e6/nu_l);
    step_left = 0.5;
    //wifi.printf("%.2f %.2f %.2f %.2f;",linear_acceleration,a,ax,delta_v);
    //pc.printf("s:%.2f,a:%.2f,ax:%.2f,delta_v:%.2f,nu:%.2f\n",motor_speed[0],a,ax,delta_v,nu_l);
}

void skorost(int right, float motor_target_speed)  //(0-left,1-right), cm/s [-400;400]
{
//nu = 500 Hz => 500/3200 = 0.15625 rps (d = 7.8cm) => V_real = Pi*d*0.15625 = 0.038 m/s = 3.8 cm/s
//float nu_l;
    //if (abs(-motor_target_speed + motor_speed[right]) <= accel)  motor_speed[right] = motor_target_speed;  // calculate new curent speed
    //if ((motor_target_speed + motor_speed[right]) > accel)  motor_speed[right] = motor_speed[right] - accel; // calculate new curent speed at big step
    //if ((-motor_speed[right] + motor_target_speed) > accel)  motor_speed[right] = motor_speed[right] + accel; // calculate new curent speed at big step

    vert = 1*(motor_target_speed - motor_speed[right]) - 0.6;
    if (vert > 3) vert = 3;
    if (vert < -3) vert = -3;

    //if (right == 1) wifi.printf("a:%.2f,t:%.2f,s:%.2f,v:%.2f",ax,motor_target_speed,motor_speed[right],vert);

    //float diff = ax - ax_old;                                                       //balance feedback
    //motor_speed[right] -= k_dif*gy + 0*diff + k_prop*ax ;
    //gz_old = gz;
    /*if (motor_speed[right] > 100) motor_speed[right] = 100;
    if (motor_speed[right] < -100) motor_speed[right] = -100;
    if (right == 1) wifi.printf("s:%.2f",motor_speed[right]);
    if (right) {if (motor_speed[right] > 0) dir_right = 1; else dir_right = 0;}
    else {if (motor_speed[right] > 0) dir_left = 0; else dir_left = 1;}
    nu_l = abs(motor_speed[right])*(500.0/3.8); //frequency in herz !!!!(cm)
    if (nu_l < 1) nu_l = 1;
    if(right) {step_right.period_us (1e6/nu_l);step_right = 0.5;} else {step_left.period_us (1e6/nu_l);step_left = 0.5;}
    // pc.printf("%u \n", nu_l);
    //wifi.printf("ay:%.2f, ",ay);*/
}

void set_motors(float speed_left, float speed_right)  //sets target speed for both motors, but the result will take into account accel and ay
{
    skorost(0,speed_left);
    skorost(1,speed_right);
}

void motor_init()
{
    step_left = 0.5;
    step_right = 0.5;
    motor_enable = 1;
    //skorost(0,0.01); skorost(1,0.01);
}