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INF2004_Project
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Merge remote-tracking branch 'origin/main'

This commit is contained in:
Devoalda 2023-10-25 17:02:48 +08:00
parent 32bad31564 3b7831297a
commit 972cd4240d
5 changed files with 28 additions and 14 deletions
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14
frtos/config/motor_config.h
View File

@ -24,9 +24,16 @@
#define PWM_CLK_DIV 250.f
#define PWM_WRAP 5000U
#define PID_KP 3.f
#define PID_KI 0.01 // 0.01f
#define PID_KD 0.05f // 0.05f
/*
* ultimate gain Ku about 14, ultimate period Tu about 8 * 50 = 400ms
* Ku = 14, Tu = 400ms,
* Kp = 0.6 * Ku = 8.4
* Ki = Kp / Tu = 0.021
* Kd = Kp * Tu / 8 = 42
*/
#define PID_KP 8.4f
#define PID_KI 0.021f // 0.005f
#define PID_KD 42.f // 0.05f
#define MAX_SPEED 4900U
#define MIN_SPEED 0U // To be changed
@ -46,6 +53,7 @@ typedef struct {
SemaphoreHandle_t sem;
uint slice_num;
uint pwm_channel;
float distance;
} motor_speed_t;
#endif /* MOTOR_CONFIG_H */

6
frtos/motor/motor_init.h
View File

@ -20,10 +20,12 @@
#include "motor_config.h"
motor_speed_t g_motor_speed_left = { .pwm_level = 2500u,
.pwm_channel = PWM_CHAN_A };
.pwm_channel = PWM_CHAN_A,
.distance = 0.0f,};
motor_speed_t g_motor_speed_right = { .pwm_level = 2500u,
.pwm_channel = PWM_CHAN_B };
.pwm_channel = PWM_CHAN_B,
.distance = 0.0f,};
void
motor_init(void)

4
frtos/motor/motor_pid.h
View File

@ -60,8 +60,8 @@ motor_pid_task(void *p_param)
p_motor_speed->pwm_level = p_motor_speed->pwm_level + control_signal;
}
printf("control signal: %f\n", control_signal);
printf("new pwm: %hu\n\n", p_motor_speed->pwm_level);
// printf("control signal: %f\n", control_signal);
// printf("new pwm: %hu\n\n", p_motor_speed->pwm_level);
pwm_set_chan_level(p_motor_speed->slice_num,
p_motor_speed->pwm_channel,

10
frtos/motor/motor_speed.h
View File

@ -66,12 +66,16 @@ monitor_wheel_speed_task(void *pvParameters)
(elapsed_time /
1000000.f));
printf("speed: %f cm/s\n", p_motor_speed->current_speed_cms);
p_motor_speed->distance += 1.02101761242f;
// printf("speed: %f cm/s\n", p_motor_speed->current_speed_cms);
}
else
{
p_motor_speed->current_speed_cms = 0.f;
printf("stopped\n");
}
// printf("stopped\n");
}
// printf("distance: %f cm\n", p_motor_speed->distance);
}
}

10
frtos/motor/motor_test.c
View File

@ -11,13 +11,13 @@ test_speed_change_task(void *p_param)
{
for (;;)
{
g_motor_speed_left.target_speed_cms = 50.0f;
g_motor_speed_right.target_speed_cms = 50.0f;
g_motor_speed_left.target_speed_cms = 15.0f;
g_motor_speed_right.target_speed_cms = 15.0f;
vTaskDelay(pdMS_TO_TICKS(5000));
g_motor_speed_left.target_speed_cms = 20.0f;
g_motor_speed_right.target_speed_cms = 20.0f;
vTaskDelay(pdMS_TO_TICKS(5000));
// g_motor_speed_left.target_speed_cms = 20.0f;
// g_motor_speed_right.target_speed_cms = 20.0f;
// vTaskDelay(pdMS_TO_TICKS(5000));
g_motor_speed_left.target_speed_cms = 0.0f;
g_motor_speed_right.target_speed_cms = 0.0f;