mirror of
https://github.com/supleed2/ELEC50003-P1-CW.git
synced 2024-12-22 13:35:49 +00:00
Added I term to drive pid
and checking for correct json
This commit is contained in:
Mee2001
parent
5e95a8d860
commit
6f6320e920
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@ -124,19 +124,20 @@ int distance_y = 0;
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int dist_to_move_prev_fl = 0;
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int dist_to_move_prev_fr = 0;
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int dist_to_move_acc_fl = 0;
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int dist_to_move_acc_fr = 0;
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unsigned long time_pid_prev_fl = 0;
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unsigned long time_pid_prev_fr = 0;
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int dist_to_move_prev_sl = 0;
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int dist_to_move_prev_sr = 0;
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unsigned long time_pid_prev_sl = 0;
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unsigned long time_pid_prev_sr = 0;
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int angle_to_move_prev = 0;
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unsigned long time_pid_prev_ang = 0;
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float kpdrive = 0.055;
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float kddrive = 4.700;
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float kpdrive = 0.059;
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float kddrive = 7.900;
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float kidrive = 0.0000009;
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float kpheading = 0.055;
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float kdheading = 4.700;
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float kpheading = 0.037;
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float kdheading = 3.60;
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volatile byte movementflag = 0;
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volatile int xydat[2];
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@ -152,8 +153,8 @@ void mousecam_write_reg(int reg, int val);
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int mousecam_read_reg(int reg);
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void mousecam_reset();
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int getCurrentHeading();
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float pid_ms(int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds);
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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);
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float pid_ms(int dist_to_move, int *dist_to_move_prev, int *dist_to_move_acc, unsigned long *time_pid_prev, float kps, float kds, float kis);
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float pid_rotation(int angle_to_move, int *angle_to_move_prev, unsigned long *time_pid_prev, float kps, float kds);
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int convTwosComp(int b)
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{
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@ -293,7 +294,6 @@ int distTravelled_mm = 0;
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bool initialAngleSet = false;
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//calibration varibles
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int angularDrift = 0; //+ve to right, -ve to left
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int leftStart = 80; //pwm min for left motor
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int leftStop = 255; //pwm max for left motor
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int rightStart = 80; //pwm min for right motor
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@ -423,11 +423,11 @@ DynamicJsonDocument rdoc(1024);
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void loop()
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{
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if (Serial1.available() && (commandCompletionStatus == 0)){
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if (Serial1.available() && ((commandCompletionStatus == 0)||(commandCompletionStatus == 2))){
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// receive doc, not sure how big this needs to be
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error = deserializeJson(rdoc, Serial1);
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Serial.println("Got serial");
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//Serial.println("Got serial");
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// Test if parsing succeeds.
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if (error)
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@ -438,19 +438,25 @@ void loop()
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}
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else
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{
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//parsing success, prepare command and pull request information
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commandCompletionStatus = 1;
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requiredHeading = rdoc["rH"];
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distance = rdoc["dist"];
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spd = rdoc["sp"];
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currentHeading = rdoc["cH"];
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if(rdoc.containsKey("sp") && rdoc["rH"] != -1){
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//parsing success, prepare command and pull request information
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commandCompletionStatus = 1;
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requiredHeading = rdoc["rH"];
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distance = rdoc["dist"];
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spd = rdoc["sp"];
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currentHeading = int(rdoc["cH"]) + 180;
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Serial.println("rH = " + String(requiredHeading) + " dist = " + String(distance) + " speed = " + String(spd));
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Serial.println("rH = " + String(requiredHeading) + " dist = " + String(distance) + " speed = " + String(spd));
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//reset variables for update on completion
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commandComplete = 0;
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powerUsage_mWh = 0.0;
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distTravelled_mm = 0;
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//reset variables for update on completion
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commandComplete = 0;
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powerUsage_mWh = 0.0;
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dist_to_move_acc_fl = 0;
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dist_to_move_acc_fr = 0;
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}else if (rdoc.containsKey("cH")){
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currentHeading = 180 + int(rdoc["cH"]);
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// Serial.println(currentHeading);
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}
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}
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}
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@ -486,17 +492,21 @@ void loop()
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//turn to angle
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if (currentHeading < requiredHeading)
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{ //turn right
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Serial.println("turning right");
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analogWrite(pwmr, getPWMfromSpeed(spd, false));
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analogWrite(pwml, getPWMfromSpeed(spd, true));
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//Serial.println("turning right");
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//Serial.println(currentHeading);
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float spd_pid = pid_rotation(abs(currentHeading - requiredHeading), &angle_to_move_prev, &time_pid_prev_ang, kpheading, kdheading);
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analogWrite(pwmr, getPWMfromSpeed(spd_pid, false));
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analogWrite(pwml, getPWMfromSpeed(spd_pid, true));
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digitalWrite(DIRR, LOW);
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digitalWrite(DIRL, LOW);
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}
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else if (currentHeading > requiredHeading)
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{ //turn left
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Serial.println("turning left");
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analogWrite(pwmr, getPWMfromSpeed(spd, false));
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analogWrite(pwml, getPWMfromSpeed(spd, true));
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//Serial.println("turning left");
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//Serial.println(currentHeading);
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float spd_pid = pid_rotation(abs(currentHeading - requiredHeading), &angle_to_move_prev, &time_pid_prev_ang, kpheading, kdheading);
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analogWrite(pwmr, getPWMfromSpeed(spd_pid, false));
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analogWrite(pwml, getPWMfromSpeed(spd_pid, true));
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digitalWrite(DIRR, HIGH);
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digitalWrite(DIRL, HIGH);
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}
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@ -515,10 +525,8 @@ void loop()
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if (total_y - distance < 0)
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{ //go forwards
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//Serial.println("going forwards");
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float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive);
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float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive);
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float speed_r_head = pid_h_ms(0, speed_r, -total_x, &dist_to_move_prev_sr, &time_pid_prev_sr, kpheading, kdheading);
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float speed_l_head = pid_h_ms(1, speed_l, -total_x, &dist_to_move_prev_sl, &time_pid_prev_sl, kpheading, kdheading);
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float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &dist_to_move_acc_fr, &time_pid_prev_fr, kpdrive, kddrive, kidrive);
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float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &dist_to_move_acc_fl, &time_pid_prev_fl, kpdrive, kddrive, kidrive);
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analogWrite(pwmr, getPWMfromSpeed(speed_r, false));
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analogWrite(pwml, getPWMfromSpeed(speed_l, true));
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digitalWrite(DIRR, LOW);
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@ -527,10 +535,8 @@ void loop()
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else if (total_y - distance > 0)
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{ //go backwards
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//Serial.println("going backwards");
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float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &time_pid_prev_fr, kpdrive, kddrive);
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float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &time_pid_prev_fl, kpdrive, kddrive);
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float speed_r_head = pid_h_ms(0, speed_r, -total_x, &dist_to_move_prev_sr, &time_pid_prev_sr, kpheading, kdheading);
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float speed_l_head = pid_h_ms(1, speed_l, -total_x, &dist_to_move_prev_sl, &time_pid_prev_sl, kpheading, kdheading);
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float speed_r = pid_ms(abs(total_y - distance), &dist_to_move_prev_fr, &dist_to_move_acc_fr, &time_pid_prev_fr, kpdrive, kddrive, kidrive);
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float speed_l = pid_ms(abs(total_y - distance), &dist_to_move_prev_fl, &dist_to_move_acc_fl, &time_pid_prev_fl, kpdrive, kddrive, kidrive);
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analogWrite(pwmr, getPWMfromSpeed(speed_r, false));
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analogWrite(pwml, getPWMfromSpeed(speed_l, true));
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digitalWrite(DIRR, HIGH);
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@ -547,7 +553,7 @@ void loop()
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}
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}
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if (commandCompletionStatus == 3)
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{ Serial.println("status3");
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{ // Serial.println("status3");
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//currentPosMatchesOrExceedsRequest
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///finish moving
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@ -585,6 +591,7 @@ void loop()
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tdoc["mm"] = distTravelled_mm;
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tdoc["pos"][0] = current_x;
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tdoc["pos"][1] = current_y;
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serializeJson(tdoc, Serial1); // Build JSON and send on UART1
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serializeJson(tdoc, Serial); // Build JSON and send on UART1
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commandCompletionStatus = 0;
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}
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@ -635,7 +642,7 @@ void loop()
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Serial.println(')'); */
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// Serial.println(md.max_pix);
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delay(100);
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delay(50);
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distance_x = md.dx; //convTwosComp(md.dx);
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distance_y = md.dy; //convTwosComp(md.dy);
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@ -715,11 +722,6 @@ void loop()
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}
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}
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int getCurrentHeading(){
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int currentAngle = 0; //-------------___<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
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return currentAngle;
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}
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// Timer A CMP1 interrupt. Every 800us the program enters this interrupt.
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// This, clears the incoming interrupt flag and triggers the main loop.
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@ -831,42 +833,32 @@ float pidi(float pid_input){
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// This is a P!ID contrller for motor speed
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float pid_ms(int dist_to_move, int *dist_to_move_prev, unsigned long *time_pid_prev, float kps, float kds){
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float pid_ms(int dist_to_move, int *dist_to_move_prev, int *dist_to_move_acc, unsigned long *time_pid_prev, float kps, float kds, float kis){
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int T_diff = millis() - *time_pid_prev;
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float speed = (kps * dist_to_move) + ((kds/T_diff) * (dist_to_move - *dist_to_move_prev));
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*dist_to_move_acc = *dist_to_move_acc + dist_to_move;
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float speed = (kps * dist_to_move) + ((kds/T_diff) * (dist_to_move - *dist_to_move_prev)) + ((kis*T_diff) * (*dist_to_move_acc));
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*time_pid_prev = millis();
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Serial.println(speed);
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if (speed >= 1) speed = 1;
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else if (speed <= 0.5) speed = 0.5;
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else if (speed <= 0.55) speed = 0.55;
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*dist_to_move_prev = dist_to_move;
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return speed;
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}
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// This is a P!ID contrller for heading using optical flow
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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){
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float pid_rotation(int angle_to_move, int *angle_to_move_prev, unsigned long *time_pid_prev, float kps, float kds){
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int T_diff = millis() - *time_pid_prev;
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float speed_aug;
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if ((dist_to_move > 0 && !left )||( dist_to_move < 0 && left)){
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float speed_aug_mult = (kps * dist_to_move) + ((kds/T_diff) * (dist_to_move - *dist_to_move_prev));
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if (speed_aug_mult >= 2) speed_aug_mult = 2;
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else if (speed_aug_mult <= 1) speed_aug_mult = 1;
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speed_aug = speed / dist_to_move;
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}else{
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speed_aug = speed;
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}
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float speed = (kps * angle_to_move) + ((kds/T_diff) * (angle_to_move - *angle_to_move_prev));
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*time_pid_prev = millis();
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if (speed_aug >= 1) speed_aug = 1;
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else if (speed_aug <= 0.3) speed_aug = 0.3;
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Serial.println(speed);
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*dist_to_move_prev = dist_to_move;
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return speed_aug;
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if (speed >= 1) speed = 1;
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else if (speed <= 0.85) speed = 0.85;
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*angle_to_move_prev = angle_to_move;
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return speed;
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}
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@ -3,6 +3,9 @@
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#include <ArduinoJson.h>
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float pitch, roll, yaw;
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// unsigned long previous_millis;
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// unsigned long current_millis;
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double yaw_correction = 0;
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void setup() {
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M5.begin();
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@ -13,13 +16,23 @@ void setup() {
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void loop() {
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M5.IMU.getAhrsData(&pitch, &roll, &yaw);
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M5.Lcd.setCursor(0, 45);
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M5.Lcd.printf("%5.2f\n", roll);
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M5.Lcd.printf("%5.2f\n", yaw);
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// Serial.printf("{\"cH\":%5.2f}\n", roll);
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// Serial1.printf("{\"cH\":%5.2f}\n", roll);
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// current_millis = millis();
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// float t_diff = (current_millis - previous_millis);
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// previous_millis = current_millis;
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yaw_correction = yaw_correction + (0.041808);
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Serial.println(yaw + yaw_correction);
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DynamicJsonDocument tdoc(1024);
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tdoc["cH"] = roll;
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tdoc["cH"] = yaw;
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serializeJson(tdoc, Serial1);
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delay(50);
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}
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delay(52);
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}
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