avr: fixes, pid tuning

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 09a8a725fea9d5409e0339d783124dbcc7587ad7..9d33c986b4acf0cb221f6fc8d7d1fc8a36cf930a 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -36,6 +36,15 @@
  * 0x26 Motor 4 speed wish MSB
  * 0x27 Motor 4 speed wish LSB
  * free
  * 0x26 Motor 4 speed wish MSB
  * 0x27 Motor 4 speed wish LSB
  * free

+ * 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
+ * free

  * 0x90 Motor 1 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch
  * 0x90 Motor 1 switch
  * 0x91 Motor 2 switch
  * 0x92 Motor 3 switch


@@ -49,10 +58,10 @@
 #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 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 TIMER1_T 0.01

 
 enum mode {
        MOTOR_MANUAL,
 
 enum mode {
        MOTOR_MANUAL,


@@ -81,7 +90,7 @@ static volatile int16_t speed1_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 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 volatile uint8_t run_pid=0;

 static int16_t speed1=0;
 static int16_t speed2=0;
 static int16_t speed3=0;
 static int16_t speed1=0;
 static int16_t speed2=0;
 static int16_t speed3=0;


@@ -287,6 +296,38 @@ ISR(TWI_vect)
                                        TWDR = speed4_wish;
                                        TWI_ACK;
                                        break;
                                        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;

                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;


@@ -319,7 +360,7 @@ static void update_hall1(void) {
 
 
 static void update_hall2(void) {
 
 
 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;
 
        static unsigned char oldstatus=0;
        unsigned char diff, new;
 


@@ -331,14 +372,14 @@ static void update_hall2(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
        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) {
        }
 }
 
 
 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;
 
        static unsigned char oldstatus=0;
        unsigned char diff, new;
 


@@ -350,8 +391,8 @@ static void update_hall3(void) {
        diff = oldstatus - new;                         // difference last - new
        if (diff & 0x1) {                               // bit 0 = value (1)
                oldstatus = new;                                        // store new as next last
        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;

        }
 }
 
        }
 }
 


@@ -465,73 +506,66 @@ void update_pid(void) {
        static int32_t esum3=0;
        static int32_t esum4=0;
 
        static int32_t esum3=0;
        static int32_t esum4=0;
 

-       if (motor1_mode == MOTOR_PID) {
-               speed1 = (pos1 - pos1_last)/TIMER0_T;
+       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;
                if (speed1_wish == 0) {
                        motor1 = 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*TIMER1_T*esum1 + KD/TIMER1_T*(e - eold1);

                        eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
                        else if (motor1 < -255) motor1 = -255;
                }
                        eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
                        else if (motor1 < -255) motor1 = -255;
                }

-
-               pos1_last = pos1;

        }
        if (motor2_mode == MOTOR_PID) {
        }
        if (motor2_mode == MOTOR_PID) {

-               speed2 = (pos2 - pos2_last)/TIMER0_T;
-

                if (speed2_wish == 0) {
                        motor2 = 0;
                } else {
                        int16_t e = speed2_wish - speed2;
                        esum2+=e;
                if (speed2_wish == 0) {
                        motor2 = 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*TIMER1_T*esum2 + KD/TIMER1_T*(e - eold2);

                        eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
                        else if (motor2 < -255) motor2 = -255;
                }
                        eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
                        else if (motor2 < -255) motor2 = -255;
                }

-
-               pos2_last = pos2;

        }
        if (motor3_mode == MOTOR_PID) {
        }
        if (motor3_mode == MOTOR_PID) {

-               speed3 = (pos3 - pos3_last)/TIMER0_T;
-

                if (speed3_wish == 0) {
                        motor3 = 0;
                } else {
                        int16_t e = speed3_wish - speed3;
                        esum3+=e;
                if (speed3_wish == 0) {
                        motor3 = 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*TIMER1_T*esum3 + KD/TIMER1_T*(e - eold3);

                        eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
                        else if (motor3 < -255) motor3 = -255;
                }
                        eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
                        else if (motor3 < -255) motor3 = -255;
                }

-
-               pos3_last = pos3;

        }
        if (motor4_mode == MOTOR_PID) {
        }
        if (motor4_mode == MOTOR_PID) {

-               speed4 = (pos4 - pos4_last)/TIMER0_T;
-

                if (speed4_wish == 0) {
                        motor4 = 0;
                } else {
                        int16_t e = speed4_wish - speed4;
                        esum4+=e;
                if (speed4_wish == 0) {
                        motor4 = 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*TIMER1_T*esum4 + KD/TIMER1_T*(e - eold4);

                        eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;
                        else if (motor4 < -255) motor4 = -255;
                }
                        eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;
                        else if (motor4 < -255) motor4 = -255;
                }

-
-               pos4_last = pos4;

        }
 }
 
        }
 }
 


@@ -601,7 +635,7 @@ int main(void) {
                }
                
 
                }
                
 

-               if (run_pid >= 781) { // ~20Hz
+               if (run_pid >= 156) { // ~100Hz

                        run_pid=0;
                        update_pid();
                }
                        run_pid=0;
                        update_pid();
                }

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 1b859bad741715b918252613bc3fcb74aa281416..b27fd698c603596d39de4e827ada3b01f42e28d4 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,450 +1,461 @@
-:100000000C945C000C9479000C9479000C947900A9\r
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