Revision 2:eb4101b574bc, committed 2013-03-06

Comitter:

ediff_iitbracing

Date:

Wed Mar 06 19:20:02 2013 +0000

Parent:

1:fec1d091fa34

Commit message:

Test publish

Changed in this revision

--- a/algo.cpp	Wed Mar 06 13:58:03 2013 +0000
+++ b/algo.cpp	Wed Mar 06 19:20:02 2013 +0000
@@ -6,6 +6,8 @@
 //Output array is stored in array
 //Output is linearly interpolated
 
+float pid_output = 0;
+
 float turnradiusfunction(float steering)
 {
     float steering_high,steering_range;
@@ -46,13 +48,13 @@
 //Further evalutes desired throttle left and right values from PID output and throttle input
 void pid()
 {   
-      // if any rpm values is zero, make it 10
-      if (rpm_Left <= 0)
+      // if any rpm values leas than 10, make it 10
+      if (rpm_Left <= dead_rpm)
       {
           rpm_Left = dead_rpm;
       }
     
-      if (rpm_Right <= 0)
+      if (rpm_Right <= dead_rpm)
       {
           rpm_Right = dead_rpm;
       }    
@@ -82,21 +84,28 @@
       }    
     
       //pid calculations
-    
-      wratio_actual = rpm_Right/rpm_Left;
       
-      error_new = wratio_desired - wratio_actual;                                  //error
-      derivative = (error_new-error_prev)/timeint;                                 //derivative of error            
-      if(integral < integral_saturation)                                           //saturate the integral part 
+      if (!openloop)
       {
-          integral += error_new*timeint;                                           //integral of error
-      }   
-      
-      float pid_output =  kp*error_new + ki*integral + kd*derivative + c;               //PID output
- 
-      error_prev = error_new;
+          wratio_actual = rpm_Right/rpm_Left;
+          
+          error_new = wratio_desired - wratio_actual;                                  //error
+          derivative = (error_new-error_prev)/timeint;                                 //derivative of error            
+          if(integral < integral_saturation)                                           //saturate the integral part 
+          {
+              integral += error_new*timeint;                                           //integral of error
+          }   
+          
+          pid_output =  kp*error_new + ki*integral + kd*derivative + c;               //PID output
+     
+          error_prev = error_new;
+      }
+      else
+      {
+          pid_output = 0;
+      }
       w_ratio = pid_output + wratio_desired;                                        //w ratio desired after feedback
-   
+        
       throttle_Right = 2*throttle/(1+1/w_ratio);                                    // V1, V2 from throttle input and w ratio desired after feedback
       throttle_Left = 2*throttle/(1+w_ratio);
  

--- a/define_variables.h	Wed Mar 06 13:58:03 2013 +0000
+++ b/define_variables.h	Wed Mar 06 19:20:02 2013 +0000
@@ -51,6 +51,10 @@
 extern float rpm_Left;
 extern float rpm_Right;
 
+//Openloop Flag
+extern volatile bool openloop;
+extern const float rpm_openloop_limit;
+
 //PID constants
 extern float kp;
 extern float kd;

--- a/fmea.cpp	Wed Mar 06 13:58:03 2013 +0000
+++ b/fmea.cpp	Wed Mar 06 19:20:02 2013 +0000
@@ -3,7 +3,7 @@
 //FMEA - Failure Mode Error Analysis codes.
 //Checks involve the following sensors:
 //LEFT THROTTLE, RIGHT THROTTLE, 
-//STEERING 1 (CAN Steering Sensor), STEERING 2 (Rotary Potentiometer),
+//STEERING 1 (CAN Steering Sensor), STEERING 2 (Linear Potentiometer),
 //LEFT WHEEL RPM and RIGHT WHEEL RPM.
 
 //FMEA parameters
@@ -24,7 +24,6 @@
 //FMEA Flags
 bool flag_use_openloop = false;
 bool flag_use_steering = false;
-bool flag_steering_use = false;
 
 //Ticker for each FMEA function.
 Ticker for_rpm_Left_pulldown_fmea;

--- a/main.cpp	Wed Mar 06 13:58:03 2013 +0000
+++ b/main.cpp	Wed Mar 06 19:20:02 2013 +0000
@@ -45,6 +45,10 @@
 float turnradius;
 float wratio_desired;                                                   //Right/Left
 
+//Opeloop Flag
+volatile bool openloop_lowrpm = true;
+const float rpm_openloop_limit = 100;
+
 //PID constants
 float kp=0;
 float kd=0;
@@ -205,10 +209,18 @@
         Prev_time_Left = Current_time_Left;                             // Set Current Reading as previous reading for next iteration
         cnt_Left = 0;                                                   //Reset Count
         rpm_Left = 1 / ( time_elapsed_Left  / (1000000*60) );           //Evaluate RPM from time for 1 revolution
+        if (rpm_Left < rpm_openloop_limit)
+        {
+            openloop_lowrpm = true;
+        }
+        else
+        {
+            openloop_lowrpm = false;
+        }
         displayLeftrpm = true;                                          //Display RPM - for testing purposes only
     }
     
-    if (MissingTeethCheckLeft)                                          //Called every 10 sec
+    if (MissingTeethCheckLeft && !openloop_lowrpm)                                          //Called every 10 sec
     {
          countLeftMissingTeeth++;        
          if (countLeftMissingTeeth == 1)                                //No comparisons for first tooth ( 12th is compared with first)
@@ -258,10 +270,14 @@
         Prev_time_Right = Current_time_Right;                             // Set Current Reading as previous reading for next iteration
         cnt_Right = 0;                                                    //Reset Count
         rpm_Right = 1 / ( time_elapsed_Right  / (1000000*60) );           //Evaluate RPM from time for 1 revolution
+         if (rpm_Right < rpm_openloop_limit)
+        {
+            openloop_lowrpm = true;
+        }
         displayRightrpm = true;                                           //Evaluate RPM from time for 1 revolution
      }
     
-    if (MissingTeethCheckRight)                                           //Called every 10 sec
+    if (MissingTeethCheckRight && !openloop_lowrpm)                                           //Called every 10 sec
     {
          countRightMissingTeeth++;        
          if (countRightMissingTeeth == 1)                                 //No comparisons for first tooth ( 12th is compared with first)