]> defiant.homedns.org Git - ros_wild_thumper.git/commitdiff
pid tuning for gear ratio=1:47
authorErik Andresen <erik@vontaene.de>
Tue, 30 Aug 2016 20:48:42 +0000 (22:48 +0200)
committerErik Andresen <erik@vontaene.de>
Tue, 30 Aug 2016 20:48:42 +0000 (22:48 +0200)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
scripts/pid_manual.py

index 3dca8cc80bb9fa380d3e9f0d3689a31d28929b09..6d9f620c672151732547f12d40e904319c4134a3 100644 (file)
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.039
-#define KI 0.08
+#define KP 0.06
+#define KI 0.10
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 4171.4
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 5766.1
 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
 #define WHEEL_DIST 0.36923 // Real: 0.252
@@ -149,6 +149,10 @@ static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
+static volatile int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
@@ -886,10 +890,14 @@ static void update_pid(void) {
        }       
 
        if (motor1_mode == MOTOR_PID) {
+               if (speed1_wish != speed1_wish_old) {
+                       esum1 = 0;
+                       speed1_wish_old = speed1_wish;
+               }
+
                if (speed1_wish == 0) {
                        motor1 = 0;
                        eold1 = 0;
-                       esum1 = 0;
                        error_state &= ~(1<<4);
                } else {
                        int16_t e = speed1_wish - speed1;
@@ -904,10 +912,14 @@ static void update_pid(void) {
                }
        }
        if (motor2_mode == MOTOR_PID) {
+               if (speed2_wish != speed2_wish_old) {
+                       esum2 = 0;
+                       speed2_wish_old = speed2_wish;
+               }
+
                if (speed2_wish == 0) {
                        motor2 = 0;
                        eold2 = 0;
-                       esum2 = 0;
                        error_state &= ~(1<<5);
                } else {
                        int16_t e = speed2_wish - speed2;
@@ -922,10 +934,14 @@ static void update_pid(void) {
                }
        }
        if (motor3_mode == MOTOR_PID) {
+               if (speed3_wish != speed3_wish_old) {
+                       esum3 = 0;
+                       speed3_wish_old = speed3_wish;
+               }
+
                if (speed3_wish == 0) {
                        motor3 = 0;
                        eold3 = 0;
-                       esum3 = 0;
                        error_state &= ~(1<<6);
                } else {
                        int16_t e = speed3_wish - speed3;
@@ -940,10 +956,14 @@ static void update_pid(void) {
                }
        }
        if (motor4_mode == MOTOR_PID) {
+               if (speed4_wish != speed4_wish_old) {
+                       esum4 = 0;
+                       speed4_wish_old = speed4_wish;
+               }
+
                if (speed4_wish == 0) {
                        motor4 = 0;
                        eold4 = 0;
-                       esum4 = 0;
                        error_state &= ~(1<<7);
                } else {
                        int16_t e = speed4_wish - speed4;
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 :00000001FF\r
index 77a7bce3f39a40cbef907d60296db2f6f5cfb313..9b6b60a1781eab92ee1a6119b641471abf4ead21 100755 (executable)
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
-KP=0.034
-KI=0.02
+KP=0.05
+KI=0.0
 KD=0.0
 PID_T=0.01
-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1
 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0
@@ -80,8 +80,6 @@ if __name__ == "__main__":
                        elif (motor3 > 255): motor3 = 255
                        elif (motor3 < -255): motor3 = -255
 
-                       print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
-
                if speed4_wish == 0: 
                        motor4 = 0.0
                        eold4 = 0.0
@@ -97,6 +95,8 @@ if __name__ == "__main__":
                        elif (motor4 > 255): motor4 = 255
                        elif (motor4 < -255): motor4 = -255
 
+                       print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+
                set_pwm(motor1, motor2, motor3, motor4)
 
                sleep(PID_T)