motor_ctrl: pid tuning

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index d25271fe945993606b49214d756134f4f01f0049..5c6a667f28449ca59c3ec96890a8726343a1333e 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,9 +101,9 @@
 #define TWI_RESET      TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK                TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.045
-#define KI 2.298
-#define KD 0.0004
+#define KP 0.025
+#define KI 2.3
+#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

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index d1553182044b418d2dc847a6b5a5c75728c21bea..88dbf87192bc53bb6991c04e1d2ffd9528494ed3 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,632 +1,619 @@
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diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
new file mode 100755 (executable)
index 0000000..ae639ae
--- /dev/null
+++ b/scripts/engine_man_test.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import struct
+from time import sleep
+from i2c import i2c_write_reg, i2c_read_reg
+
+
+def set_pwm(left, right):
+       i2c_write_reg(0x50, 0x1, struct.pack(">h", left))
+       i2c_write_reg(0x50, 0x3, struct.pack(">h", left))
+       i2c_write_reg(0x50, 0x5, struct.pack(">h", right))
+       i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
+
+if __name__ == "__main__":
+       set_pwm(int(sys.argv[1]), int(sys.argv[2]))
+
+       while True:
+               motor1, = struct.unpack(">B", i2c_read_reg(0x50, 0x2, 1))
+               motor2, = struct.unpack(">B", i2c_read_reg(0x50, 0x4, 1))
+               motor3, = struct.unpack(">B", i2c_read_reg(0x50, 0x6, 1))
+               motor4, = struct.unpack(">B", i2c_read_reg(0x50, 0x8, 1))
+               speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
+               error,  = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))
+               print "PWM:", motor1, motor2, motor3, motor4, "Speed:", speed1, speed2, speed3, speed4, "Error:", error
+               sleep(0.1)