compAIR/compLIB
compAIR/compLIB
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Add movement class to python

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This commit is contained in:
Konstantin Lampalzer 2022-06-11 23:52:57 +02:00
parent 2c5f283a46
commit d4c49a0a51
18 changed files with 240 additions and 53 deletions
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2
server_v2/include/ClosedLoopMotorController.hpp
View file

@ -5,6 +5,7 @@
#include <cstdint>
#include <array>
#include <thread>
#include <mutex>
#include "include/PID.hpp"
#include "include/Robot.hpp"
@ -46,6 +47,7 @@ private:
std::array<double, ROBOT_MOTOR_COUNT> speed_targets{0};
std::thread speed_control_thread;
std::recursive_mutex speed_control_mutex;
};

4
server_v2/include/Encoders.hpp
View file

@ -21,14 +21,18 @@ public:
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_rad_s();
std::array<double, ROBOT_MOTOR_COUNT> get_velocities_ticks_s();
private:
Encoders() = default;
Cache position_cache{ROBOT_ENCODER_RATE_HZ};
Cache velocity_cache{ROBOT_ENCODER_RATE_HZ};
Cache ticks_cache{ROBOT_ENCODER_RATE_HZ};
std::array<int32_t, ROBOT_MOTOR_COUNT> cached_positions = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_rad_s = {0};
std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_ticks_s = {0};
};

13
server_v2/include/Robot.hpp
View file

@ -7,9 +7,9 @@
#define ROBOT_IR_RATE_HZ 250
#define ROBOT_MOTOR_COUNT 4
#define ROBOT_MOTOR_SPEED_CONTROL_KP 8.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 31.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.085
#define ROBOT_MOTOR_SPEED_CONTROL_KP 15.0
#define ROBOT_MOTOR_SPEED_CONTROL_KI 5.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.0
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 4 * M_PI
#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
@ -20,6 +20,7 @@
#define ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT -1.0
#define ROBOT_ENCODER_RATE_HZ 500
#define ROBOT_ENCODER_MAX_CHANGE_RAD_S M_PI_4
#define ROBOT_WHEEL_RADIUS_MM 35.5
#define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM / 1000.0)
@ -34,13 +35,13 @@
#define ROBOT_GO_TO_DISTANCE_RATE_HZ 200
#define ROBOT_GO_TO_DISTANCE_ALPHA_P 2.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 10.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 5.0
#define ROBOT_GO_TO_DISTANCE_END_M 0.01 // stop approx 1 cm before target
#define ROBOT_GO_TO_DISTANCE_MIN_VEL 0.075
#define ROBOT_GO_TO_ANGLE_RATE_HZ 200
#define ROBOT_GO_TO_ANGLE_END_RAD (0.5 * (M_PI / 180.0)) // stop 0.5 deg before target
#define ROBOT_GO_TO_ANGLE_ALPHA_P 0.5
#define ROBOT_GO_TO_ANGLE_MIN_VEL (M_PI / 2.0)
#define ROBOT_GO_TO_ANGLE_ALPHA_P 0.9
#define ROBOT_GO_TO_ANGLE_MIN_VEL M_PI_2
#endif //COMPLIB_SERVER_ROBOT_HPP