clean garbage
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Thefeli73
parent
b57bd6ca27
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baa64b6240
@ -1,3 +1,4 @@
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//EENX15_LQR.ino
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#include <Wire.h>
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int lastCorrectionTime = 0;
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@ -6,7 +7,7 @@ int lastPrintTime = 0;
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static int fastTimer = 10; //ms
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static int slowTimer = 1000; //ms
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//lqr stuff
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//lqr
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const uint8_t statesNumber = 4;
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/** Low pass filter angular Position*/
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float angularPositionLP = 0;
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@ -26,7 +27,7 @@ int speed;
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int safe_angle;
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//gyro stuff
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//gyro
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float AccX, AccY, AccZ;
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float GyroX, GyroY, GyroZ;
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float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
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@ -47,7 +48,7 @@ float angle_pitch_output, angle_roll_output;
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long loop_timer;
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int temp;
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//motor stuff
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//motor
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#define encoderA1 2
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#define encoderB1 3
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@ -81,7 +82,7 @@ void setup() {
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Wire.begin();
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Serial.begin(115200);
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while (!Serial)
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delay(10); // will pause Zero, Leonardo, etc until serial console opens
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delay(10); // will pause until serial console opens
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gyro_setup();
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@ -91,7 +92,6 @@ void setup() {
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pinMode(encoderA2, INPUT_PULLUP);
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pinMode(encoderB2, INPUT_PULLUP);
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attachInterrupt(digitalPinToInterrupt(encoderA1), pulseA, RISING);
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//attachInterrupt(digitalPinToInterrupt(encoderB1), pulseB, RISING);
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pinMode(MotorPinA, OUTPUT);
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pinMode(MotorSpeedA, OUTPUT);
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@ -109,14 +109,13 @@ void loop() {
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int m = millis();
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if (m - lastCorrectionTime >= fastTimer) { //run this code ever 80ms (12.5hz)
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if (m - lastCorrectionTime >= fastTimer) { //run this code every [fastTimer]ms
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lastCorrectionTime = m;
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getSpeed();
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setSpeed();
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}
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if (m - lastPrintTime >= slowTimer) { //run this code every
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if (m - lastPrintTime >= slowTimer) { //run this code every [slowTimer]ms
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lastPrintTime = m;
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//set_test_speed();
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printInfo();
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}
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}
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@ -147,33 +146,14 @@ void printInfo(){
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Serial.print("RPM: "); Serial.println(rpm); //ca. 56 tick per rotation
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Serial.print("Rads per second: "); Serial.println(rps); //ca. 56 tick per rotation, 6.26 rads per rotation
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}
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/*
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int temp_counter = 0;
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void set_test_speed(){
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digitalWrite(MotorPinB, CCW);
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digitalWrite(MotorPinA, CW);
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speed = temp_counter;
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Serial.print("Speed pre calc: "); Serial.println(speed); //ca. 56 tick per rotation, 6.26 rads per rotation
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speed = 3145.84/(pow((90.75 - speed),1.00715));
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speed = constrain(speed, 0, 255);
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analogWrite(MotorSpeedB, speed); //Wheel close to connections
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analogWrite(MotorSpeedA, speed); //First experiment wheel
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Serial.print("Rads per second: "); Serial.println(rps); //ca. 56 tick per rotation, 6.26 rads per rotation
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Serial.print("Speed: "); Serial.println(speed); //ca. 56 tick per rotation, 6.26 rads per rotation
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temp_counter += 3;
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}
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*/
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void setSpeed(){
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if(abs(safe_angle)<50 ){
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//speed = 8*safe_angle;
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float position_m = countA/174.76;
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float speed_ms = rps * 0.05;
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float angle_r = angle_pitch_output * 0.318;
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float angle_speed_rs = rps;
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//speed = lqr_fullstate(position_m, speed_ms, angle_r, angle_speed_rs);/// 0.019608; // (0.20*255)
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speed = lqr_fullstate(0, 0, angle_r, 0);/// 0.019608; // (0.20*255)
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//speed = -22 * inputToControlSystem(0, 1);
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if(speed<0){
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digitalWrite(MotorPinB, CW);
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digitalWrite(MotorPinA, CCW);
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@ -188,8 +168,8 @@ void setSpeed(){
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if(speed!=0){ speed = constrain(speed, -255, 255);speed = calc_speed(speed); }
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speed = abs(speed);
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speed = constrain(speed, 0, 255);
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analogWrite(MotorSpeedB, speed); //Wheel close to connections
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analogWrite(MotorSpeedA, speed); //First experiment wheel
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analogWrite(MotorSpeedB, speed);
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analogWrite(MotorSpeedA, speed);
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}
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else{
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speed = 0;
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@ -1,40 +1,17 @@
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//LQR-stuff
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//#include "Arduino_skal.h"
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// | ///////////////////////////////////
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// | //Row 24-52 in Arduino_skal_data.cpp
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// v ///////////////////////////////////
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// Expression: A
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// Referenced by: '<Root>/Gain4'
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//LQR.ino
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const double matrix_A [16] = { 0.0, 0.0, 0.0, 0.0,
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1.0, -0.20780947085442231, 0.0, -0.52810302415000854,
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0.0, 13.239785742831822, 0.0, 58.601480177829842,
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0.0, 0.0, 1.0, 0.0 };
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//const double matrix_A [16] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0};
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// Expression: C
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// Referenced by: '<Root>/Gain6'
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const double matrix_C [8] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 };
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//const double matrix_C [8] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
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// Expression: L
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// Referenced by: '<Root>/Gain2'
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const double matrix_L [8] = { 56.7847, 799.5294, -1.4914, -57.4160,
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-1.0363, -16.1071, 57.0075, 870.8172 };
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const double matrix_L_old [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912197449676,
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-115.34372132703447, -1.0534041975488044, -48.223441605702455,
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117.16185100039935, 3490.0480780568214 };
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//const double matrix_L [8] = { 116.63033952875418, 338.78673967111704, -1.4473912197449676,
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// -115.34372132703447, -1.0534041975488044, -48.223441605702455,
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// 117.16185100039935, 34.900480780568214 };
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// Expression: B
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// Referenced by: '<Root>/Gain3'
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const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 };
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@ -42,25 +19,12 @@ const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 };
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const double matrix_K_old [4] = {-31.622776601683942, -21.286439360075747, 80.789376267003959, 13.42463576551093};
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const double matrix_K [4] = {-0.0316, -0.3938, 22.9455, 3.0629};
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// | ///////////////////////////////////
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// | //Row 261-264 in Arduino_skal.cpp
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// v ///////////////////////////////////
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double Integrator1_CSTATE [4] = {0.0, 0.0, 0.0, 0.0};
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double Sum3[4];
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double Sum4[4];
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// | ///////////////////////////////////
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// | //Row 123-124 in Arduino_skal.cpp
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// v ///////////////////////////////////
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double tmp[2];
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double rtb_Saturation = 0.0;
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// | ///////////////////////////////////
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// | //Row 140-143 in Arduino_skal.cpp
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// v ///////////////////////////////////
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// Denna funktion bör anropas när styrka + riktning till motorer ska bestämmas.
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double saturatedSignalToMotors(){
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rtb_Saturation = ((matrix_K[0] * Integrator1_CSTATE[0] +
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matrix_K[1] * Integrator1_CSTATE[1]) +
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@ -77,9 +41,6 @@ double saturatedSignalToMotors(){
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Serial.print("Saturation = "); Serial.println(rtb_Saturation);
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return rtb_Saturation;
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}
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// | ///////////////////////////////////
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// | //Row 165-188 in Arduino_skal.cpp
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// v ///////////////////////////////////
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double inputToControlSystem(float position_m, float angle_r){
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float posAndAng[] = {position_m, angle_r};
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for (int i = 0; i < 2; i++) {
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@ -89,15 +50,7 @@ double inputToControlSystem(float position_m, float angle_r){
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Integrator1_CSTATE[2]) + matrix_C[i + 6] *
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Integrator1_CSTATE[3]);
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}
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// End of Sum: '<Root>/Sum2'
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for (int i = 0; i < 4; i++) {
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// Sum: '<Root>/Sum4' incorporates:
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// Gain: '<Root>/Gain2'
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// Gain: '<Root>/Gain3'
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// Gain: '<Root>/Gain4'
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// Integrator: '<Root>/Integrator1'
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// Sum: '<Root>/Sum3'
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Sum3[i] = ((matrix_L[i + 4] * tmp[1] + matrix_L[i]
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@ -122,29 +75,8 @@ double inputToControlSystem(float position_m, float angle_r){
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Arduino_skal_derivatives();
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return saturatedSignalToMotors();
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}
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// | ///////////////////////////////////
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// | //Row 215-225 in Arduino_skal.cpp
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// v ///////////////////////////////////
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void Arduino_skal_derivatives()
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{
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/*
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XDot *_rtXdot;
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_rtXdot = ((XDot *) (&rtM)->derivs);
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// Derivatives for Integrator: '<Root>/Integrator1'
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_rtXdot->Integrator1_CSTATE[0] = Sum4[0];
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_rtXdot->Integrator1_CSTATE[1] = Sum4[1];
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_rtXdot->Integrator1_CSTATE[2] = Sum4[2];
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_rtXdot->Integrator1_CSTATE[3] = Sum4[3];
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Integrator1_CSTATE[0] = Sum4[0] * (fastTimer/1000.0);
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Integrator1_CSTATE[1] = Sum4[1] * (fastTimer/1000.0);
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Integrator1_CSTATE[2] = Sum4[2] * (fastTimer/1000.0);
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Integrator1_CSTATE[3] = Sum4[3] * (fastTimer/1000.0);
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*/
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// Derivatives for Integrator: '<Root>/Integrator1'
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for (int i = 0; i < 4; i++) {
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Integrator1_CSTATE[i] = Sum4[i] * fastTimer/1000.0;
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Serial.print("Integrator: "); Serial.println(Integrator1_CSTATE[i]);
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@ -1,4 +1,4 @@
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//gyroscope stuff
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//gyro.ino
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#include <Adafruit_MPU6050.h>
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#include <Adafruit_Sensor.h>
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@ -16,7 +16,6 @@ void gyro_setup(){
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}
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Serial.println("MPU6050 Found!");
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//mpu.setAccelerometerRange(MPU6050_RANGE_4_G);
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mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
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Serial.print("Accelerometer range set to: ");
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switch (mpu.getAccelerometerRange()) {
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@ -33,7 +32,6 @@ void gyro_setup(){
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Serial.println("+-16G");
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break;
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}
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//mpu.setGyroRange(MPU6050_RANGE_500_DEG);
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mpu.setGyroRange(MPU6050_RANGE_2000_DEG);
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Serial.print("Gyro range set to: ");
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switch (mpu.getGyroRange()) {
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@ -1,13 +1,5 @@
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//lqr_fullstate.ino
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float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle_speed_rs){
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// const float matrix_K [4] = {-0.0316, -0.3938, 22.9455, 3.0629};
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// const float matrix_K [4] = {-1.0000, -1.8855, 26.6999, 3.8592};
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// const float matrix_K [4] = {-1.0000, -1.9058, 27.0579, 3.8886};
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// const float matrix_K [4] = {-0.3162, -1.0381, 24.6060, 3.4143};
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// const float matrix_K [4] = {-0.1054, -0.6273, 23.5822, 3.1936};
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// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
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// const float matrix_K [4] = {-0.1054, -0.5273, 23.5546, 3.1876};
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// const float matrix_K [4] = {-0.7071, -1.5720, 26.0726, 3.7050};
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// const float matrix_K [4] = {-0.7071, -1.5980, 26.6081, 4.3220};
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const float matrix_K [4] = {-0.7071, -1.7751, 34.5368, 4.8793};
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float result;
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@ -15,24 +7,10 @@ float lqr_fullstate(float position_m, float speed_ms, float angle_r, float angle
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matrix_K[1] * speed_ms +
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matrix_K[2] * angle_r +
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matrix_K[3] * angle_speed_rs;
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/*
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if (result > 0.29) {
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result = 0.29;
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} else if (result < -0.29) {
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result = -0.29;
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} else {
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result = result;
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}*/
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Serial.print("K calculation (force): "); Serial.println(result);
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return result;
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}
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float calc_speed(float input) {
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/*
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float a = -2971;
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float b = -0.9929;
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float c = 90.75;
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float radps = a * pow(speed, b) + c; ////// the response graph
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*/
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float scale = 1.5;
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input = abs(input)*0.30796; // scale down to rad/s (78,53/255)
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Serial.print("input: "); Serial.println(input);
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