compAIR/compLIB
compAIR/compLIB
Archived
4
0
Fork 0
Code Issues Pull requests Projects Releases 1 Packages Wiki Activity Actions

Change RPM to M/S

Browse source
This commit is contained in:
Konstantin Lampalzer 2022-05-26 18:55:57 +02:00
parent a484bc2137
commit 6a1ac72912
7 changed files with 111 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

6
server_v2/include/ClosedLoopMotorController.hpp
View file

@ -22,7 +22,11 @@ public:
void set_power(uint8_t port, double power);
void set_speed(uint8_t port, double speed_rpm);
void set_speed(uint8_t port, double speed_ms);
void generate_step_response_data();
void generate_tuned_step_response_data();
private:
enum ControlMode : uint8_t {

4
server_v2/include/Encoders.hpp
View file

@ -19,7 +19,7 @@ public:
std::array<int32_t, ROBOT_MOTOR_COUNT> get_positions();
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_rpm();
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_ms();
private:
Encoders() = default;
@ -28,7 +28,7 @@ private:
Cache velocity_cache{ROBOT_ENCODER_RATE_HZ};
std::array<int32_t, ROBOT_MOTOR_COUNT> cached_positions = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_rpm = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_ms = {0};
};

9
server_v2/include/Robot.hpp
View file

@ -7,10 +7,10 @@
#define ROBOT_IR_RATE_HZ 250
#define ROBOT_MOTOR_COUNT 4
#define ROBOT_MOTOR_SPEED_CONTROL_KP 0.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 5.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.025
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 100.0
#define ROBOT_MOTOR_SPEED_CONTROL_KP 222.0
#define ROBOT_MOTOR_SPEED_CONTROL_KI 2110.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 2.22
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 0.2
#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
#define ROBOT_ODOMETRY_CONTROLLER_RATE_HZ 250
@ -22,6 +22,7 @@
#define ROBOT_ENCODER_RATE_HZ 250
#define ROBOT_WHEEL_CIRCUMFERENCE_MM (71.0 * M_PI)
#define ROBOT_WHEEL_CIRCUMFERENCE_M (ROBOT_WHEEL_CIRCUMFERENCE_MM / 1000.0)
#define ROBOT_TICKS_PER_TURN (27.7 * 100.0)
#define ROBOT_ARBOR_LENGTH_MM 139.0
#define ROBOT_ARBOR_LENGTH_M (ROBOT_ARBOR_LENGTH_MM / 1000.0)