#include <stdio.h>
#include <stdlib.h>
#include <limits.h>
+#include <math.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
* 0x25 Motor 3 speed wish LSB
* 0x26 Motor 4 speed wish MSB
* 0x27 Motor 4 speed wish LSB
+ * 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
+ * 0x33 Motor 2 speed LSB
+ * 0x34 Motor 3 speed MSB
+ * 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 Front Handicap
+ * 0x95 Aft Handicap
+ * free
+ * 0xA0 Reset reason
+ * 0xA1 TLE Error status
+ * 0xA2 count test
* free
* 0xff Bootloader
*/
#define TWI_RESET TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
#define TWI_NAK TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define KP 10.0
-#define KI 0.0
-#define KD 0.0
-#define TIMER0_T 0.020
+#define KP 0.009
+#define KI 0.051429
+#define KD 0.000378
+#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 struct {
+ float speed;
+ float angle;
+ uint8_t bUpdate;
+} cmd_vel = {0, 0, 0};
+
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;
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 uint16_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};
+static volatile float cur_speed_lin=0;
+static volatile float cur_speed_rot=0;
+static volatile uint8_t count_test=0;
+static volatile uint8_t front_handicap=0;
+static volatile uint8_t aft_handicap=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)
{
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;
+ cmd_vel.speed = tmp_speed.f;
+ 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;
+ cmd_vel.angle = tmp_angle.f;
+ cmd_vel.bUpdate = 1;
+ TWI_ACK;
+ break;
case 0x90: // Motor 1 switch
motor1_switch = TWDR;
TWI_ACK;
motor4_switch = TWDR;
TWI_ACK;
break;
+ case 0x94: // Front Handicap
+ front_handicap = TWDR;
+ TWI_ACK;
+ break;
+ case 0x95: // Aft Handicap
+ aft_handicap = TWDR;
+ TWI_ACK;
+ break;
case 0xff: // bootloader
bootloader = TWDR;
default:
TWDR = speed4_wish;
TWI_ACK;
break;
+ case 0x30: // Motor 1 speed MSB
+ TWDR = speed1>>8;
+ TWI_ACK;
+ break;
+ case 0x31: // Motor 1 speed LSB
+ TWDR = speed1;
+ TWI_ACK;
+ break;
+ case 0x32: // Motor 2 speed MSB
+ TWDR = speed2>>8;
+ TWI_ACK;
+ break;
+ case 0x33: // Motor 2 speed LSB
+ TWDR = speed2;
+ TWI_ACK;
+ break;
+ case 0x34: // Motor 3 speed MSB
+ TWDR = speed3>>8;
+ TWI_ACK;
+ break;
+ case 0x35: // Motor 3 speed LSB
+ TWDR = speed3;
+ TWI_ACK;
+ break;
+ case 0x36: // Motor 4 speed MSB
+ TWDR = speed4>>8;
+ TWI_ACK;
+ break;
+ case 0x37: // Motor 4 speed LSB
+ TWDR = speed4;
+ TWI_ACK;
+ break;
+ case 0x38: // speed MSB
+ tmp_speed.f = cur_speed_lin;
+ 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
+ tmp_angle.f = cur_speed_rot;
+ 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 0xA0: // Reset reason
+ TWDR = MCUCSR & 0x0f;
+ MCUCSR = 0x0;
+ TWI_ACK;
+ break;
+ case 0xA1: // TLE Error status
+ TWDR = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
+ TWI_ACK;
+ break;
+ case 0xA2: // count test
+ TWDR = count_test;
+ TWI_ACK;
default:
TWDR = 0;
TWI_NAK;
static void update_hall2(void) {
- unsigned char status = (PINA >> 2) & 0x3;
+ unsigned char status = (PINA >> 4) & 0x3;
static unsigned char oldstatus=0;
unsigned char diff, new;
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor2_switch) pos2 += (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos2 -= (diff & 2) - 1;
+ if (motor2_switch) pos2 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ else pos2 += (diff & 2) - 1;
}
}
static void update_hall3(void) {
- unsigned char status = (PINA >> 4) & 0x3;
+ unsigned char status = (PINA >> 2) & 0x3;
static unsigned char oldstatus=0;
unsigned char diff, new;
diff = oldstatus - new; // difference last - new
if (diff & 0x1) { // bit 0 = value (1)
oldstatus = new; // store new as next last
- if (motor3_switch) pos3 += (diff & 2) - 1; // bit 1 = direction (+/-)
- else pos3 -= (diff & 2) - 1;
+ if (motor3_switch) pos3 -= (diff & 2) - 1; // bit 1 = direction (+/-)
+ else pos3 += (diff & 2) - 1;
}
}
}
-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;
+ float pos_x_new, pos_y_new, angle_new;
+ int16_t speed_l, speed_r;
+ float tmp_speed_lin, tmp_speed_rot;
+ int16_t cur_pos1, cur_pos2, cur_pos3, cur_pos4;
+ int16_t new_speed1, new_speed2, new_speed3, new_speed4;
+
+ // copy to tmp
+ cli();
+ cur_pos1 = pos1;
+ cur_pos2 = pos2;
+ cur_pos3 = pos3;
+ cur_pos4 = pos4;
+ sei();
+
+ pos1_diff = cur_pos1 - pos1_last;
+ pos2_diff = cur_pos2 - pos2_last;
+ pos3_diff = cur_pos3 - pos3_last;
+ pos4_diff = cur_pos4 - pos4_last;
+
+ new_speed1 = pos1_diff/PID_T;
+ new_speed2 = pos2_diff/PID_T;
+ new_speed3 = pos3_diff/PID_T;
+ new_speed4 = pos4_diff/PID_T;
+
+ 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;
+
+ angle_new = angle.f + angle_diff;
+ if (angle_new > 2*M_PI) angle_new-=2*M_PI;
+ else if (angle_new < 2*M_PI) angle_new+=2*M_PI;
+
+ translation = (diff_left_m + diff_right_m)/2.0;
+ pos_x_new = pos_x.f + cos(angle_new)*translation;
+ pos_y_new = pos_y.f + sin(angle_new)*translation;
+
+ speed_l = (new_speed1+new_speed2)/2;
+ speed_r = (new_speed3+new_speed4)/2;
+ tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M);
+ tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M);
+
+ // copy from tmp
+ cli();
+ angle.f = angle_new;
+ pos_x.f = pos_x_new;
+ pos_y.f = pos_y_new;
+ speed1 = new_speed1;
+ speed2 = new_speed2;
+ speed3 = new_speed3;
+ speed4 = new_speed4;
+ cur_speed_lin = tmp_speed_lin;
+ cur_speed_rot = tmp_speed_rot;
+ sei();
+
+ pos1_last = cur_pos1;
+ pos2_last = cur_pos2;
+ pos3_last = cur_pos3;
+ pos4_last = cur_pos4;
+}
+
+
+static void update_pid(void) {
static int16_t eold1=0;
static int16_t eold2=0;
static int16_t eold3=0;
static int32_t esum4=0;
if (motor1_mode == MOTOR_PID) {
- speed1 = (pos1 - pos1_last)/TIMER0_T;
-
if (speed1_wish == 0) {
motor1 = 0;
+ eold1 = 0;
+ esum1 = 0;
} else {
int16_t e = speed1_wish - speed1;
esum1+=e;
- motor1 += KP*e + KI*TIMER0_T*esum1 + KD/TIMER0_T*(e - eold1);
+ motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
eold1 = e;
if (motor1 > 255) motor1 = 255;
else if (motor1 < -255) motor1 = -255;
}
-
- pos1_last = pos1;
}
if (motor2_mode == MOTOR_PID) {
- speed2 = (pos2 - pos2_last)/TIMER0_T;
-
if (speed2_wish == 0) {
motor2 = 0;
+ eold2 = 0;
+ esum2 = 0;
} else {
int16_t e = speed2_wish - speed2;
esum2+=e;
- motor2 += KP*e + KI*TIMER0_T*esum2 + KD/TIMER0_T*(e - eold2);
+ motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
eold2 = e;
if (motor2 > 255) motor2 = 255;
else if (motor2 < -255) motor2 = -255;
}
-
- pos2_last = pos2;
}
if (motor3_mode == MOTOR_PID) {
- speed3 = (pos3 - pos3_last)/TIMER0_T;
-
if (speed3_wish == 0) {
motor3 = 0;
+ eold3 = 0;
+ esum3 = 0;
} else {
int16_t e = speed3_wish - speed3;
esum3+=e;
- motor3 += KP*e + KI*TIMER0_T*esum3 + KD/TIMER0_T*(e - eold3);
+ motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
eold3 = e;
if (motor3 > 255) motor3 = 255;
else if (motor3 < -255) motor3 = -255;
}
-
- pos3_last = pos3;
}
if (motor4_mode == MOTOR_PID) {
- speed4 = (pos4 - pos4_last)/TIMER0_T;
-
if (speed4_wish == 0) {
motor4 = 0;
+ eold4 = 0;
+ esum4 = 0;
} else {
int16_t e = speed4_wish - speed4;
esum4+=e;
- motor4 += KP*e + KI*TIMER0_T*esum4 + KD/TIMER0_T*(e - eold4);
+ motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
eold4 = e;
if (motor4 > 255) motor4 = 255;
else if (motor4 < -255) motor4 = -255;
}
-
- pos4_last = pos4;
}
}
update_hall3();
update_hall4();
- run_pid++;
+ run_update++;
}
OCR1B = 0;
// Motor 3
- // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 2: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20);
OCR2 = 0;
// Motor 4
- // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz
+ // Timer 0: Fast PWM inverting mode, Top=256
// Prescaler=1
TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00);
OCR0 = 0;
}
break;
}
-
- if (run_pid >= 781) { // ~20Hz
- run_pid=0;
- update_pid();
+ if (cmd_vel.bUpdate) {
+ float speed_wish_right, speed_wish_left;
+ float speed, angle;
+
+ cli();
+ speed = cmd_vel.speed;
+ angle = cmd_vel.angle;
+ cmd_vel.bUpdate = 0;
+ sei();
+
+ speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
+ speed_wish_left = speed*2-speed_wish_right;
+
+ speed_wish_left*=STEP_PER_M;
+ speed_wish_right*=STEP_PER_M;
+
+ speed1_wish = speed_wish_left * (100-aft_handicap)/100.0;
+ 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-aft_handicap)/100.0;
+ motor1_mode = MOTOR_PID;
+ motor2_mode = MOTOR_PID;
+ motor3_mode = MOTOR_PID;
+ motor4_mode = MOTOR_PID;
}
- update_motor();
+ if (run_update >= 156) { // ~100Hz
+ run_update=0;
+
+ update_pos();
+ update_pid();
+ update_motor();
+ count_test++;
+ }
sleep_mode();
}
projects / ros_wild_thumper.git / blobdiff