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Attempt at angle PID

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Mee2001 2021-06-11 00:52:32 +01:00
parent bb33d95697
commit 5dba48bee3
1 changed files with 56 additions and 14 deletions
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70
Drive/src/main.cpp
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@ -127,9 +127,17 @@ int dist_to_move_prev_fr = 0;
unsigned long time_pid_prev_fl = 0; unsigned long time_pid_prev_fl = 0;
unsigned long time_pid_prev_fr = 0; unsigned long time_pid_prev_fr = 0;
int dist_to_move_prev_sl = 0;
int dist_to_move_prev_sr = 0;
unsigned long time_pid_prev_sl = 0;
unsigned long time_pid_prev_sr = 0;
float kpdrive = 0.055; float kpdrive = 0.055;
float kddrive = 4.700; float kddrive = 4.700;
float kpheading = 0.055;
float kdheading = 4.700;
volatile byte movementflag = 0; volatile byte movementflag = 0;
volatile int xydat[2]; volatile int xydat[2];
@ -145,6 +153,7 @@ int mousecam_read_reg(int reg);
void mousecam_reset(); void mousecam_reset();
int getCurrentHeading(); int getCurrentHeading();
float pid_ms(int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds); float pid_ms(int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds);
float pid_h_ms(bool left, float speed, int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds);
int convTwosComp(int b) int convTwosComp(int b)
{ {
@ -503,24 +512,32 @@ void loop()
} }
} }
else else
{ //then move forwards but check angle for drift { //then move forwards but check angle for drift using optical flow
if (total_x - distance < 0) if (total_y - distance < 0)
{ //go forwards { //go forwards
Serial.println("going forwards"); //Serial.println("going forwards");
analogWrite(pwmr, getPWMfromSpeed(pid_ms(abs(total_x - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive), false)); float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive);
analogWrite(pwml, getPWMfromSpeed(pid_ms(abs(total_x - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive), true)); float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive);
float speed_r_head = pid_h_ms(0, speed_r, -total_x, &dist_to_move_prev_sr, &time_pid_prev_sr, kpheading, kdheading);
float speed_l_head = pid_h_ms(1, speed_l, -total_x, &dist_to_move_prev_sl, &time_pid_prev_sl, kpheading, kdheading);
analogWrite(pwmr, getPWMfromSpeed(speed_r, false));
analogWrite(pwml, getPWMfromSpeed(speed_l, true));
digitalWrite(DIRR, LOW); digitalWrite(DIRR, LOW);
digitalWrite(DIRL, HIGH); digitalWrite(DIRL, HIGH);
} }
else if (total_x - distance > 0) else if (total_y - distance > 0)
{ //go backwards { //go backwards
Serial.println("going backwards"); //Serial.println("going backwards");
analogWrite(pwmr, getPWMfromSpeed(pid_ms(abs(total_x - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive), false)); float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive);
analogWrite(pwml, getPWMfromSpeed(pid_ms(abs(total_x - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive), true)); float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive);
float speed_r_head = pid_h_ms(0, speed_r, -total_x, &dist_to_move_prev_sr, &time_pid_prev_sr, kpheading, kdheading);
float speed_l_head = pid_h_ms(1, speed_l, -total_x, &dist_to_move_prev_sl, &time_pid_prev_sl, kpheading, kdheading);
analogWrite(pwmr, getPWMfromSpeed(speed_r, false));
analogWrite(pwml, getPWMfromSpeed(speed_l, true));
digitalWrite(DIRR, HIGH); digitalWrite(DIRR, HIGH);
digitalWrite(DIRL, LOW); digitalWrite(DIRL, LOW);
} }
else if ((total_x == distance)) else if ((total_y == distance))
{ //distance met { //distance met
//STOP!!!!! //STOP!!!!!
digitalWrite(pwmr, LOW); digitalWrite(pwmr, LOW);
@ -627,15 +644,15 @@ void loop()
total_x1 = (total_x1 + distance_x); total_x1 = (total_x1 + distance_x);
total_y1 = (total_y1 + distance_y); total_y1 = (total_y1 + distance_y);
total_y = 10 * total_x1 / 157; //Conversion from counts per inch to mm (400 counts per inch) total_x = 10 * total_x1 / 157; //Conversion from counts per inch to mm (400 counts per inch)
total_x = 10 * total_y1 / 157; //Conversion from counts per inch to mm (400 counts per inch) total_y = 10 * total_y1 / 157; //Conversion from counts per inch to mm (400 counts per inch)
/* Serial.print('\n'); Serial.print('\n');
Serial.println("Distance_x = " + String(total_x)); Serial.println("Distance_x = " + String(total_x));
Serial.println("Distance_y = " + String(total_y)); Serial.println("Distance_y = " + String(total_y));
Serial.print('\n'); */ Serial.print('\n');
//-------------------------------------------------------SMPS & MOTOR CODE START------------------------------------------------------// //-------------------------------------------------------SMPS & MOTOR CODE START------------------------------------------------------//
unsigned long currentMillis = millis(); unsigned long currentMillis = millis();
if (loopTrigger) if (loopTrigger)
@ -829,3 +846,28 @@ float pid_ms(int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_p
*dist_to_move_prev = dist_to_move; *dist_to_move_prev = dist_to_move;
return speed; return speed;
} }
// This is a P!ID contrller for heading using optical flow
float pid_h_ms(bool left, float speed, int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds){
int T_diff = millis() - *time_pid_prev;
float speed_aug;
if ((dist_to_move > 0 && !left )||( dist_to_move < 0 && left)){
float speed_aug_mult = (kps * dist_to_move) + ((kds/T_diff) * (dist_to_move - *dist_to_move_prev));
if (speed_aug_mult >= 2) speed_aug_mult = 2;
else if (speed_aug_mult <= 1) speed_aug_mult = 1;
speed_aug = speed / dist_to_move;
}else{
speed_aug = speed;
}
*time_pid_prev = millis();
if (speed_aug >= 1) speed_aug = 1;
else if (speed_aug <= 0.3) speed_aug = 0.3;
*dist_to_move_prev = dist_to_move;
return speed_aug;
}