pid tuning for gear ratio=1:47

[ros_wild_thumper.git] / avr / motor_ctrl / main.c

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 576d57c1c7d75d22b286f462f6c3618c57f61b3c..6d9f620c672151732547f12d40e904319c4134a3 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,12 +101,12 @@
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
 #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
 #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
 #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 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;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;


@@ -687,7 +691,8 @@ static void update_motor(void) {
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 
        static int16_t m3_old=SHRT_MIN;
        static int16_t m4_old=SHRT_MIN;
 

-       error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+       error_state &= 0xf0; // clear lower bits
+       error_state |= ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;

 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {
 
        if (m1_old != motor1) { // update only when changed
                if (motor1 == 0) {


@@ -857,11 +862,43 @@ static void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
        static int32_t esum3=0;
        static int32_t esum4=0;
 

+       // protect motors from damage if stalling
+       if (labs(esum1) > 120000 && speed1 == 0) {
+               motor1 = 0;
+               motor1_mode = MOTOR_MANUAL;
+               error_state |= (1<<4);
+               esum1 = 0;
+       }       
+       if (labs(esum2) > 120000 && speed2 == 0) {
+               motor2 = 0;
+               motor2_mode = MOTOR_MANUAL;
+               error_state |= (1<<5);
+               esum2 = 0;
+       }       
+       if (labs(esum3) > 120000 && speed3 == 0) {
+               motor3 = 0;
+               motor3_mode = MOTOR_MANUAL;
+               error_state |= (1<<6);
+               esum3 = 0;
+       }       
+       // protect motors from damage if stalling
+       if (labs(esum4) > 120000 && speed4 == 0) {
+               motor4 = 0;
+               motor4_mode = MOTOR_MANUAL;
+               error_state |= (1<<7);
+               esum4 = 0;
+       }       
+

        if (motor1_mode == MOTOR_PID) {
        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;
                if (speed1_wish == 0) {
                        motor1 = 0;
                        eold1 = 0;

-                       esum1 = 0;
+                       error_state &= ~(1<<4);

                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;
                } else {
                        int16_t e = speed1_wish - speed1;
                        esum1+=e;


@@ -875,10 +912,15 @@ static void update_pid(void) {
                }
        }
        if (motor2_mode == MOTOR_PID) {
                }
        }
        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;
                if (speed2_wish == 0) {
                        motor2 = 0;
                        eold2 = 0;

-                       esum2 = 0;
+                       error_state &= ~(1<<5);

                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;


@@ -892,10 +934,15 @@ static void update_pid(void) {
                }
        }
        if (motor3_mode == MOTOR_PID) {
                }
        }
        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;
                if (speed3_wish == 0) {
                        motor3 = 0;
                        eold3 = 0;

-                       esum3 = 0;
+                       error_state &= ~(1<<6);

                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;


@@ -909,10 +956,15 @@ static void update_pid(void) {
                }
        }
        if (motor4_mode == MOTOR_PID) {
                }
        }
        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;
                if (speed4_wish == 0) {
                        motor4 = 0;
                        eold4 = 0;

-                       esum4 = 0;
+                       error_state &= ~(1<<7);

                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;


@@ -1013,17 +1065,17 @@ int main(void) {
 
                        if (aft_handicap > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
 
                        if (aft_handicap > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;

-                               speed4_wish = speed_wish_right * (100-aft_handicap)/100.0;
+                               speed3_wish = speed_wish_right * (100-aft_handicap)/100.0;

                        } else {
                                speed1_wish = speed_wish_left;
                        } else {
                                speed1_wish = speed_wish_left;

-                               speed4_wish = speed_wish_right;
+                               speed3_wish = speed_wish_right;

                        }
                        if (front_handicap > 0) {
                                speed2_wish = speed_wish_left * (100-front_handicap)/100.0;
                        }
                        if (front_handicap > 0) {
                                speed2_wish = speed_wish_left * (100-front_handicap)/100.0;

-                               speed3_wish = speed_wish_right * (100-front_handicap)/100.0;
+                               speed4_wish = speed_wish_right * (100-front_handicap)/100.0;

                        } else {
                                speed2_wish = speed_wish_left;
                        } else {
                                speed2_wish = speed_wish_left;

-                               speed3_wish = speed_wish_right;
+                               speed4_wish = speed_wish_right;

                        }
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;
                        }
                        motor1_mode = MOTOR_PID;
                        motor2_mode = MOTOR_PID;