From b022c849f0b973f34c35d5e1cd9f85fea06598dd Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Mon, 25 May 2015 14:20:06 +0200 Subject: [PATCH] avr: added speed & pose calculations --- avr/motor_ctrl/main.c | 316 ++++++++++-- avr/motor_ctrl/main.hex | 1044 ++++++++++++++++++++++----------------- 2 files changed, 871 insertions(+), 489 deletions(-) diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 9d33c98..8fc3fdb 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -1,6 +1,7 @@ #include #include #include +#include #include #include #include @@ -35,7 +36,14 @@ * 0x25 Motor 3 speed wish LSB * 0x26 Motor 4 speed wish MSB * 0x27 Motor 4 speed wish LSB - * free + * 0x28 Left speed wish (m/s) MSB + * 0x29 Left speed wish (m/s) + * 0x2A Left speed wish (m/s) + * 0x2B Left speed wish (m/s) LSB + * 0x2C Right speed wish (m/s) MSB + * 0x2D Right speed wish (m/s) + * 0x2E Right speed wish (m/s) + * 0x2F Right speed wish (m/s) LSB * 0x30 Motor 1 speed MSB * 0x31 Motor 1 speed LSB * 0x32 Motor 2 speed MSB @@ -44,11 +52,42 @@ * 0x35 Motor 3 speed LSB * 0x36 Motor 4 speed MSB * 0x37 Motor 4 speed LSB + * 0x38 Speed (m/s) MSB + * 0x39 Speed (m/s) + * 0x3A Speed (m/s) + * 0x3B Speed (m/s) LSB + * 0x3C Angle (rad/s) MSB + * 0x3D Angle (rad/s) + * 0x3E Angle (rad/s) + * 0x3F Angle (rad/s) LSB + * free + * 0x40 Position x (m) MSB + * 0x41 Position x (m) + * 0x42 Position x (m) + * 0x43 Position x (m) LSB + * 0x44 Position y (m) MSB + * 0x45 Position y (m) + * 0x46 Position y (m) + * 0x47 Position y (m) LSB + * 0x48 Position angle MSB + * 0x49 Position angle + * 0x4A Position angle + * 0x4B Position angle LSB + * free + * 0x50 speed wish (m/s) MSB + * 0x51 speed wish (m/s) + * 0x52 speed wish (m/s) + * 0x53 speed wish (m/s) LSB + * 0x54 angle wish (rad/s) MSB + * 0x55 angle wish (rad/s) + * 0x56 angle wish (rad/s) + * 0x57 angle wish (rad/s) LSB * free * 0x90 Motor 1 switch * 0x91 Motor 2 switch * 0x92 Motor 3 switch * 0x93 Motor 4 switch + * 0x94 TLE Error status * free * 0xff Bootloader */ @@ -61,20 +100,27 @@ #define KP 0.009 #define KI 0.051429 #define KD 0.000378 -#define TIMER1_T 0.01 +#define PID_T 0.01 +#define STEP_PER_M 3376.1 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34 +#define WHEEL_DIST 0.252 enum mode { MOTOR_MANUAL, MOTOR_PID }; +typedef union { + float f; + uint32_t i; +} ufloat_t; + static volatile uint8_t ireg=0; static volatile uint8_t bootloader=0; -static volatile int16_t motor1=0; +static volatile int16_t motor1=0; // -255..+255 static volatile int16_t motor2=0; static volatile int16_t motor3=0; static volatile int16_t motor4=0; -static volatile int16_t pos1=0; +static volatile int16_t pos1=0; // step static volatile int16_t pos2=0; static volatile int16_t pos3=0; static volatile int16_t pos4=0; @@ -86,20 +132,25 @@ static volatile uint8_t motor1_switch=0; static volatile uint8_t motor2_switch=0; static volatile uint8_t motor3_switch=0; static volatile uint8_t motor4_switch=0; -static volatile int16_t speed1_wish=0; +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 uint8_t run_pid=0; -static int16_t speed1=0; -static int16_t speed2=0; -static int16_t speed3=0; -static int16_t speed4=0; +static volatile uint8_t run_update=0; +static volatile int16_t speed1=0; // step/s +static volatile int16_t speed2=0; +static volatile int16_t speed3=0; +static volatile int16_t speed4=0; +static volatile ufloat_t pos_x={0.0}; +static volatile ufloat_t pos_y={0.0}; +static volatile ufloat_t angle={0.0}; ISR(TWI_vect) { static uint8_t tmp=0; static int16_t tmp16=0; + static ufloat_t tmp_speed; + static ufloat_t tmp_angle; switch (TWSR & 0xF8) { @@ -186,6 +237,90 @@ ISR(TWI_vect) motor4_mode = MOTOR_PID; TWI_ACK; break; + case 0x28: // Left speed wish MSB + tmp_speed.i = TWDR; + TWI_ACK; + break; + case 0x29: // Left speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x2A: // Left speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x2B: // Left speed wish LSB + tmp_speed.i = tmp_speed.i << 8 | TWDR; + speed1_wish = tmp_speed.f*STEP_PER_M; + speed2_wish = tmp_speed.f*STEP_PER_M; + motor1_mode = MOTOR_PID; + motor2_mode = MOTOR_PID; + TWI_ACK; + break; + case 0x2C: // Right speed wish MSB + tmp_speed.i = TWDR; + TWI_ACK; + break; + case 0x2D: // Right speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x2E: // Right speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x2F: // Right speed wish LSB + tmp_speed.i = tmp_speed.i << 8 | TWDR; + speed1_wish = tmp_speed.f*STEP_PER_M; + speed2_wish = tmp_speed.f*STEP_PER_M; + motor1_mode = MOTOR_PID; + motor2_mode = MOTOR_PID; + TWI_ACK; + break; + case 0x50: // speed wish MSB + tmp_speed.i = TWDR; + TWI_ACK; + break; + case 0x51: // speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x52: // speed wish + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x53: // speed wish LSB + tmp_speed.i = tmp_speed.i << 8 | TWDR; + TWI_ACK; + break; + case 0x54: // angle wish MSB + tmp_angle.i = TWDR; + TWI_ACK; + break; + case 0x55: // angle wish + tmp_angle.i = tmp_angle.i << 8 | TWDR; + TWI_ACK; + break; + case 0x56: // angle wish + tmp_angle.i = tmp_angle.i << 8 | TWDR; + TWI_ACK; + break; + case 0x57: // angle wish LSB + tmp_angle.i = tmp_angle.i << 8 | TWDR; + { + float speed_wish_right = tmp_angle.f*M_PI*WHEEL_DIST/2 + tmp_speed.f; + float speed_wish_left = tmp_speed.f*2-speed_wish_right; + speed1_wish = speed_wish_left*STEP_PER_M; + speed2_wish = speed_wish_left*STEP_PER_M; + speed3_wish = speed_wish_right*STEP_PER_M; + speed4_wish = speed_wish_right*STEP_PER_M; + } + motor1_mode = MOTOR_PID; + motor2_mode = MOTOR_PID; + motor3_mode = MOTOR_PID; + motor4_mode = MOTOR_PID; + TWI_ACK; + break; case 0x90: // Motor 1 switch motor1_switch = TWDR; TWI_ACK; @@ -328,6 +463,96 @@ ISR(TWI_vect) TWDR = speed4; TWI_ACK; break; + case 0x38: // speed MSB + { + int16_t speed_l = (speed3+speed4)/2; + int16_t speed_r = (speed1+speed2)/2; + tmp_speed.f = (speed_l + speed_r)/(2.0*STEP_PER_M); + tmp_angle.f = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M); + } + TWDR = tmp_speed.i>>24; + TWI_ACK; + break; + case 0x39: // speed + TWDR = tmp_speed.i>>16; + TWI_ACK; + break; + case 0x3A: // speed + TWDR = tmp_speed.i>>8; + TWI_ACK; + break; + case 0x3B: // speed LSB + TWDR = tmp_speed.i; + TWI_ACK; + break; + case 0x3C: // angle MSB + TWDR = tmp_angle.i>>24; + TWI_ACK; + break; + case 0x3D: // angle + TWDR = tmp_angle.i>>16; + TWI_ACK; + break; + case 0x3E: // angle + TWDR = tmp_angle.i>>8; + TWI_ACK; + break; + case 0x3F: // angle LSB + TWDR = angle.i; + TWI_ACK; + break; + case 0x40: // Position x MSB + TWDR = pos_x.i>>24; + TWI_ACK; + break; + case 0x41: // Position x + TWDR = pos_x.i>>16; + TWI_ACK; + break; + case 0x42: // Position x + TWDR = pos_x.i>>8; + TWI_ACK; + break; + case 0x43: // Position x LSB + TWDR = pos_x.i; + TWI_ACK; + break; + case 0x44: // Position y MSB + TWDR = pos_y.i>>24; + TWI_ACK; + break; + case 0x45: // Position y + TWDR = pos_y.i>>16; + TWI_ACK; + break; + case 0x46: // Position y + TWDR = pos_y.i>>8; + TWI_ACK; + break; + case 0x47: // Position y LSB + TWDR = pos_y.i; + TWI_ACK; + break; + case 0x48: // Position angle MSB + TWDR = pos_y.i>>24; + TWI_ACK; + break; + case 0x49: // Position angle + TWDR = pos_y.i>>16; + TWI_ACK; + break; + case 0x4A: // Position angle + TWDR = pos_y.i>>8; + TWI_ACK; + break; + case 0x4B: // Position angle LSB + TWDR = pos_y.i; + TWI_ACK; + break; + case 0x94: // TLE Error status + TWDR = (PIND & 0x40)>>2 | (PINB & 0x07); + TWI_ACK; + break; default: TWDR = 0; TWI_NAK; @@ -492,11 +717,52 @@ static void update_motor(void) { } -void update_pid(void) { +static void update_pos(void) { static int16_t pos1_last=0; static int16_t pos2_last=0; static int16_t pos3_last=0; static int16_t pos4_last=0; + int16_t pos1_diff; // steps + int16_t pos2_diff; + int16_t pos3_diff; + int16_t pos4_diff; + float diff_left_m, diff_right_m, angle_diff, translation; + + //cli(); + pos1_diff = pos1 - pos1_last; + pos2_diff = pos2 - pos2_last; + pos3_diff = pos3 - pos3_last; + pos4_diff = pos4 - pos4_last; + speed1 = pos1_diff/PID_T; + speed2 = pos2_diff/PID_T; + speed3 = pos3_diff/PID_T; + speed4 = pos4_diff/PID_T; + //sei(); + + diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M); + diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M); + angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST; + + //cli(); + angle.f+=angle_diff; + if (angle.f > 2*M_PI) angle.f-=2*M_PI; + else if (angle.f < 2*M_PI) angle.f+=2*M_PI; + //sei(); + + //cli(); + translation = (diff_left_m + diff_right_m)/2.0; + pos_x.f += cos(angle.f)*translation; + pos_y.f += sin(angle.f)*translation; + //sei(); + + pos1_last = pos1; + pos2_last = pos2; + pos3_last = pos3; + pos4_last = pos4; +} + + +static void update_pid(void) { static int16_t eold1=0; static int16_t eold2=0; static int16_t eold3=0; @@ -506,22 +772,13 @@ void update_pid(void) { static int32_t esum3=0; static int32_t esum4=0; - speed1 = (pos1 - pos1_last)/TIMER1_T; - pos1_last = pos1; - speed2 = (pos2 - pos2_last)/TIMER1_T; - pos2_last = pos2; - speed3 = (pos3 - pos3_last)/TIMER1_T; - pos3_last = pos3; - speed4 = (pos4 - pos4_last)/TIMER1_T; - pos4_last = pos4; - if (motor1_mode == MOTOR_PID) { if (speed1_wish == 0) { motor1 = 0; } else { int16_t e = speed1_wish - speed1; esum1+=e; - motor1 += KP*e + KI*TIMER1_T*esum1 + KD/TIMER1_T*(e - eold1); + motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); eold1 = e; if (motor1 > 255) motor1 = 255; @@ -534,7 +791,7 @@ void update_pid(void) { } else { int16_t e = speed2_wish - speed2; esum2+=e; - motor2 += KP*e + KI*TIMER1_T*esum2 + KD/TIMER1_T*(e - eold2); + motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); eold2 = e; if (motor2 > 255) motor2 = 255; @@ -547,7 +804,7 @@ void update_pid(void) { } else { int16_t e = speed3_wish - speed3; esum3+=e; - motor3 += KP*e + KI*TIMER1_T*esum3 + KD/TIMER1_T*(e - eold3); + motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); eold3 = e; if (motor3 > 255) motor3 = 255; @@ -560,7 +817,7 @@ void update_pid(void) { } else { int16_t e = speed4_wish - speed4; esum4+=e; - motor4 += KP*e + KI*TIMER1_T*esum4 + KD/TIMER1_T*(e - eold4); + motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); eold4 = e; if (motor4 > 255) motor4 = 255; @@ -576,7 +833,7 @@ ISR(TIMER1_OVF_vect) { update_hall3(); update_hall4(); - run_pid++; + run_update++; } @@ -635,13 +892,14 @@ int main(void) { } - if (run_pid >= 156) { // ~100Hz - run_pid=0; + if (run_update >= 156) { // ~100Hz + run_update=0; + + update_pos(); update_pid(); + update_motor(); } - update_motor(); - sleep_mode(); } diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index b27fd69..4320c15 100644 --- a/avr/motor_ctrl/main.hex +++ 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