umbmark correction

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index d40347996ff5d4065a4d1f8f8d5b68642ce55d62..2ec14a12c6c26f2d581f9919a868765bb07e3527 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -106,7 +106,10 @@
 #define KI 0.051429
 #define KD 0.000378
 #define PID_T 0.01
 #define KI 0.051429
 #define KD 0.000378
 #define PID_T 0.01

-#define STEP_PER_M 4171.4 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, calculated wheel diameter: 0.12454m
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 4171.4
+#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
 
 enum mode {
 #define WHEEL_DIST 0.36923 // Real: 0.252
 
 enum mode {


@@ -267,8 +270,8 @@ ISR(TWI_vect)
                                        break;
                                case 0x2B: // Left speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;
                                        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;
+                                       speed1_wish = tmp_speed.f*STEP_PER_M_LEFT;
+                                       speed2_wish = tmp_speed.f*STEP_PER_M_LEFT;

                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;
                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;


@@ -287,8 +290,8 @@ ISR(TWI_vect)
                                        break;
                                case 0x2F: // Right speed wish LSB
                                        tmp_speed.i = tmp_speed.i << 8 | TWDR;
                                        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;
+                                       speed1_wish = tmp_speed.f*STEP_PER_M_RIGHT;
+                                       speed2_wish = tmp_speed.f*STEP_PER_M_RIGHT;

                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;
                                        motor1_mode = MOTOR_PID;
                                        motor2_mode = MOTOR_PID;
                                        TWI_ACK;


@@ -772,8 +775,8 @@ static void update_pos(void) {
        new_speed3 = pos3_diff/PID_T;
        new_speed4 = pos4_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);
+       diff_left_m = (pos1_diff + pos2_diff)/(2*STEP_PER_M_LEFT);
+       diff_right_m = (pos3_diff + pos4_diff)/(2*STEP_PER_M_RIGHT);

        angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 
        angle_new = angle.f + angle_diff;
        angle_diff = (diff_right_m - diff_left_m) / WHEEL_DIST;
 
        angle_new = angle.f + angle_diff;


@@ -786,8 +789,8 @@ static void update_pos(void) {
 
        speed_l = (new_speed1+new_speed2)/2;
        speed_r = (new_speed3+new_speed4)/2;
 
        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);
+       tmp_speed_lin = (speed_l + speed_r)/(2.0*STEP_PER_M_AVG);
+       tmp_speed_rot = (speed_r - speed_l)/(M_PI*WHEEL_DIST*STEP_PER_M_AVG);

 
        // copy from tmp
        cli();
 
        // copy from tmp
        cli();


@@ -962,8 +965,8 @@ int main(void) {
                        speed_wish_right = angle*M_PI*WHEEL_DIST/2 + speed;
                        speed_wish_left = speed*2-speed_wish_right;
 
                        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;
+                       speed_wish_left*=STEP_PER_M_LEFT;
+                       speed_wish_right*=STEP_PER_M_RIGHT;

 
                        if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;
 
                        if (speed_wish_left > 0 && aft_handicap_fwd > 0) {
                                speed1_wish = speed_wish_left * (100-aft_handicap_fwd)/100.0;

diff --git a/config/control.yaml b/config/control.yaml
index ea206e90bbab8be7624f2993865bd04ce2d91d1c..256d5ca0de2e0797f2cad8e5cfe6c862704496e5 100644 (file)
--- a/config/control.yaml
+++ b/config/control.yaml
@@ -23,7 +23,7 @@ diff_drive_controller:
 
   # Wheel separation and radius multipliers
   wheel_separation_multiplier: 1.4126 # default: 1.0
 
   # Wheel separation and radius multipliers
   wheel_separation_multiplier: 1.4126 # default: 1.0

-  wheel_radius_multiplier    : 0.98284 # default: 1.0
+  wheel_radius_multiplier    : 1.0 # default: 1.0

 
   # Velocity and acceleration limits
   # Whenever a min_* is unspecified, default to -max_*
 
   # Velocity and acceleration limits
   # Whenever a min_* is unspecified, default to -max_*

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
index e6bb5d5394f5360b44cd47e072db5b1d1e038f82..f031a675b9bf1e25855e27b16100509795a5dd96 100755 (executable)
--- a/scripts/umbmark.py
+++ b/scripts/umbmark.py
@@ -21,10 +21,14 @@
 # beta = (y_cg_cw + y_cg_ccw)/(-4*L)
 # R = (L/2)/sin(beta/2)
 # Ed = Dr/Dl*(R+b/2)/(R-b/2)
 # beta = (y_cg_cw + y_cg_ccw)/(-4*L)
 # R = (L/2)/sin(beta/2)
 # Ed = Dr/Dl*(R+b/2)/(R-b/2)

+# Da = (Dr + Dl)/2
+# Dl = 2/(Ed + 1) * Da
+# Dr = 2/((1/Ed) + 1) * Da

 # 
 # Wheelbase correction:
 # alpha = (y_cg_cw - y_cg_ccw)/(-4*L) * 180/pi
 # Eb = (90)/(90-alpha)
 # 
 # Wheelbase correction:
 # alpha = (y_cg_cw - y_cg_ccw)/(-4*L) * 180/pi
 # Eb = (90)/(90-alpha)

+# b_new = Eb*b

 
 import sys
 import rospy
 
 import sys
 import rospy