From: Erik Andresen Date: Thu, 31 Mar 2016 18:40:03 +0000 (+0200) Subject: motor_ctrl: pid tuning X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=9600299d1815cb14a3f49c72c4266adc1f471bcb;hp=ae5417e92e700c1e4e75d5c187b6712df03ecf5b motor_ctrl: pid tuning --- diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 28d254e..048fab0 100644 --- 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<>3 | (PINB & 0x07)) & 0xf; // if error and running: stop - if (bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0; - if (bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0; - if (bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0; - if (bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0; + if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0; + if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0; + if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0; + if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0; // if we start motor in error state: start with full power - if (bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255; - if (bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255; - if (bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255; - if (bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255; + if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255; + if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255; + if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255; + if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255; if (m1_old != motor1) { // update only when changed if (motor1 == 0) { @@ -844,7 +844,7 @@ static void update_pid(void) { } else { int16_t e = speed1_wish - speed1; esum1+=e; - motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); + motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1); eold1 = e; if (motor1 > 255) motor1 = 255; @@ -859,7 +859,7 @@ static void update_pid(void) { } else { int16_t e = speed2_wish - speed2; esum2+=e; - motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); + motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2); eold2 = e; if (motor2 > 255) motor2 = 255; @@ -874,7 +874,7 @@ static void update_pid(void) { } else { int16_t e = speed3_wish - speed3; esum3+=e; - motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); + motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3); eold3 = e; if (motor3 > 255) motor3 = 255; @@ -889,7 +889,7 @@ static void update_pid(void) { } else { int16_t e = speed4_wish - speed4; esum4+=e; - motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); + motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4); eold4 = e; if (motor4 > 255) motor4 = 255; diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 804c0a9..72a9ae8 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -7,10 +7,10 @@ :100060000C50B9918688083CA6AAAA2ABE000000B6 :10007000803F45464765666700202B2D2E30313284 :100080003334353637383968000011241FBECFE5C8 -:10009000D8E0DEBFCDBF10E0A0E6B0E0E4EBF8E2D0 +:10009000D8E0DEBFCDBF10E0A0E6B0E0E4E5F8E2D6 :1000A00002C005900D92A837B107D9F721E0A8E763 :1000B000B0E001C01D92A836B207E1F70E94290600 -:1000C0000C9458140C9400001F920F920FB60F92CC +:1000C0000C9428140C9400001F920F920FB60F92FC :1000D00011242F933F934F935F936F937F938F934D :1000E0009F93AF93BF93EF93FF9381B1887F803845 :1000F00081F040F4803609F0B5C385EC86BF1092DC @@ -54,7 +54,7 @@ :10035000A2009091A300A091A400B091A500BA2F93 :10036000A92F982F8827BC01CD01622B6093A20092 :100370007093A3008093A4009093A50023E33BE532 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@@ +#!/usr/bin/env python +# -*- coding: iso-8859-15 -*- +# +# rostopic echo /odom/twist/twist/linear/x > /tmp/velocity.txt + +import sys +import numpy as np + +f = open(sys.argv[1]) +l = [] +for line in f: + if "---" in line: + continue + l.append(float(line)) + +print "avg=%.2f, var=%f" % (sum(l)/len(l), np.var(l))