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PID 99%, suspect wheel issue as if I swap the wheels the car slants opposite direction, for a bit; but generally straight for about 1m, should be enough for the map

This commit is contained in:
Richie 2023-10-29 20:26:13 +08:00
parent e8f8d31b85
commit f176192dce
3 changed files with 7 additions and 12 deletions
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11
frtos/motor/motor_init.h
View File

@ -21,17 +21,14 @@
motor_t g_motor_left = { .pwm.level = 0u, motor_t g_motor_left = { .pwm.level = 0u,
.pwm.channel = PWM_CHAN_A, .pwm.channel = PWM_CHAN_A,
.speed.distance_cm = 0.0f, .speed.distance_cm = 0.0f };
.pid.kp_value = 8.4f,
.pid.ki_value = 0.021f,
.pid.kd_value = 42.f,};
motor_t g_motor_right = { .pwm.level = 0u, motor_t g_motor_right = { .pwm.level = 0u,
.pwm.channel = PWM_CHAN_B, .pwm.channel = PWM_CHAN_B,
.speed.distance_cm = 0.0f, .speed.distance_cm = 0.0f,
.pid.kp_value = 8.4f, .pid.kp_value = 1000.f,
.pid.ki_value = 0.021f, .pid.ki_value = 0.0f,
.pid.kd_value = 42.0f,}; .pid.kd_value = 10000.0f,};
void void
motor_init(void) motor_init(void)

4
frtos/motor/motor_pid.h
View File

@ -21,8 +21,6 @@ compute_pid(float *integral, float *prev_error)
float error float error
= g_motor_left.speed.distance_cm - g_motor_right.speed.distance_cm; = g_motor_left.speed.distance_cm - g_motor_right.speed.distance_cm;
printf("error: %f\n", error);
*integral += error; *integral += error;
float derivative = error - *prev_error; float derivative = error - *prev_error;
@ -56,7 +54,7 @@ motor_pid_task(__unused void *p_param)
float control_signal = compute_pid(&integral, &prev_error); float control_signal = compute_pid(&integral, &prev_error);
float temp = (float) g_motor_right.pwm.level + control_signal; float temp = (float) g_motor_right.pwm.level + control_signal * 0.05f;
if (temp > MAX_SPEED) if (temp > MAX_SPEED)
{ {

4
frtos/motor/motor_test.c
View File

@ -20,7 +20,7 @@ launch()
irq_set_enabled(IO_IRQ_BANK0, true); irq_set_enabled(IO_IRQ_BANK0, true);
// Set wheel speed // Set wheel speed
set_wheel_speed(3000); set_wheel_speed(3500);
// Left wheel // Left wheel
// //
@ -60,7 +60,7 @@ main(void)
{ {
stdio_usb_init(); stdio_usb_init();
sleep_ms(2000); sleep_ms(4000);
printf("Test started!\n"); printf("Test started!\n");
motor_init(); motor_init();