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move functions in loop to own functions

This commit is contained in:
interfisch 2021-03-31 21:16:48 +02:00
parent 82fbc8234e
commit 1e9eda245f
1 changed files with 139 additions and 91 deletions
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228
controller_teensy/src/main.cpp
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@ -26,6 +26,11 @@ unsigned long last_log_send=0;
#define WRITE_HEADER_TIME 1000 #define WRITE_HEADER_TIME 1000
bool log_header_written = false; bool log_header_written = false;
#define FEEDBACKRECEIVETIMEOUT 500
bool controllerFront_connected=false;
bool controllerRear_connected=false;
bool controllers_connected=false; bool controllers_connected=false;
#define PIN_THROTTLE A7 #define PIN_THROTTLE A7
@ -126,6 +131,12 @@ float filterMedian(int16_t* values);
void writeLogHeader(HardwareSerial &SerialRef); void writeLogHeader(HardwareSerial &SerialRef);
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake); void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
void writeLogComment(HardwareSerial &SerialRef, String msg);
void readADC();
void failChecks();
void sendCMD();
void checkLog();
void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef) void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
{ {
@ -241,41 +252,13 @@ void loop() {
bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3); bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
if (loopmillis - last_adcread > ADCREADPERIOD) { if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
//read teensy adc and filter
last_adcread=loopmillis; last_adcread=loopmillis;
uint16_t throttle_raw = analogRead(PIN_THROTTLE); readADC();
throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
uint16_t brake_raw = analogRead(PIN_BRAKE);
brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
throttle_pos=constrain(throttlebreak_pos,0,1000);
brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
throttle_pos/=2;
digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
digitalWrite(PIN_MODE_LEDR,HIGH);
}else{ //button not pushed in
digitalWrite(PIN_MODE_LEDG,HIGH);
digitalWrite(PIN_MODE_LEDR,LOW); //Red
} }
}
#define FEEDBACKRECEIVETIMEOUT 500
if ( (loopmillis > motorparamsFront.millis+FEEDBACKRECEIVETIMEOUT) | (loopmillis > motorparamsRear.millis+FEEDBACKRECEIVETIMEOUT) ) { //timeout of at least one controller
throttle_pos=0;
brake_pos=0;
controllers_connected=false;
}else if(!controllers_connected) { //not timeouted but was before
controllers_connected=true;
}
failChecks();
@ -297,71 +280,15 @@ void loop() {
log_update=true; log_update=true;
} }
if (loopmillis - last_send > SENDPERIOD) { if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
//Calculate motor stuff and send to motor controllers
last_send=loopmillis; last_send=loopmillis;
sendCMD();
int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
#define MAXBREAKCURRENT 5
float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
float freewheel_current=0.1+brake_pos*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
if (throttle_pos>=last_cmd_send) { //accelerating
cmd_send = throttle_pos; //if throttle higher than apply throttle directly
}else{ //freewheeling or braking
if (filtered_currentAll<freewheel_current) { //drive current too high
cmd_send-= max(0, (-filtered_currentAll+freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
}
cmd_send-=max(1,cmdreduce_constant); //reduce slowly anyways
cmd_send=constrain(cmd_send,0,1000);
}
if (!controllers_connected) { //controllers not connected
cmd_send=0; //safety off
}
last_cmd_send=cmd_send;
//apply throttle command to all motors
motorparamsFront.cmdL=cmd_send;
motorparamsFront.cmdR=cmd_send;
motorparamsRear.cmdL=cmd_send;
motorparamsRear.cmdR=cmd_send;
if (controllers_connected) {
SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
log_update=true;
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
}
} }
// ######## LOG ######## // ######## LOG ########
if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){ checkLog();
writeLogHeader(Serial1); //connection recovered, write log header
log_header_written=true;
}
if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
last_log_send=loopmillis;
log_update=false;
writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
}
} }
int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
@ -425,3 +352,124 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(throttle); SerialRef.print(","); SerialRef.print(throttle); SerialRef.print(",");
SerialRef.print(brake); SerialRef.println(); SerialRef.print(brake); SerialRef.println();
} }
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
{
SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
}
void readADC() {
uint16_t throttle_raw = analogRead(PIN_THROTTLE);
throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
uint16_t brake_raw = analogRead(PIN_BRAKE);
brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
throttle_pos=constrain(throttlebreak_pos,0,1000);
brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
throttle_pos/=2;
digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
digitalWrite(PIN_MODE_LEDR,HIGH);
}else{ //button not pushed in
digitalWrite(PIN_MODE_LEDG,HIGH);
digitalWrite(PIN_MODE_LEDR,LOW); //Red
}
}
void failChecks() {
if ( loopmillis > motorparamsFront.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
if (controllerFront_connected) { //just got disconnected
controllerFront_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
}
}else if(!controllerFront_connected) { //not timeouted but was before
controllerFront_connected=true;
writeLogComment(Serial1,loopmillis, "Controller Front connected");
}
if ( loopmillis > motorparamsRear.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
if (controllerRear_connected) { //just got disconnected
controllerRear_connected=false;
writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
}
}else if(!controllerRear_connected) { //not timeouted but was before
controllerRear_connected=true;
writeLogComment(Serial1,loopmillis, "Controller Rear connected");
}
controllers_connected=controllerFront_connected & controllerRear_connected;
if (!controllers_connected) { //controllers not available
throttle_pos=0;
brake_pos=0;
}
}
void sendCMD() {
int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
#define MAXBREAKCURRENT 5
float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
float freewheel_current=0.1+brake_pos*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
if (throttle_pos>=last_cmd_send) { //accelerating
cmd_send = throttle_pos; //if throttle higher than apply throttle directly
}else{ //freewheeling or braking
if (filtered_currentAll<freewheel_current) { //drive current too high
cmd_send-= max(0, (-filtered_currentAll+freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
}
cmd_send-=max(1,cmdreduce_constant); //reduce slowly anyways
cmd_send=constrain(cmd_send,0,1000);
}
if (!controllers_connected) { //controllers not connected
cmd_send=0; //safety off
}
last_cmd_send=cmd_send;
//apply throttle command to all motors
motorparamsFront.cmdL=cmd_send;
motorparamsFront.cmdR=cmd_send;
motorparamsRear.cmdL=cmd_send;
motorparamsRear.cmdR=cmd_send;
if (controllers_connected) {
SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
log_update=true;
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
}
}
void checkLog() {
if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
writeLogHeader(Serial1); //connection recovered, write log header
log_header_written=true;
}
if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
last_log_send=loopmillis;
log_update=false;
writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
}
}