update pid_tuning classes

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Inc/constants.h b/utils/pid_tuning/otto_pid_tuning/Core/Inc/constants.h
deleted file mode 100644 (file)
index 0d5d4d6..0000000
--- a/utils/pid_tuning/otto_pid_tuning/Core/Inc/constants.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef CONSTANTS_H
-#define CONSTANTS_H
-
-#define BASELINE 0.3 //distance between wheels in meters
-#define MAX_DUTY_CYCLE 790
-#define TICKS_PER_REVOLUTION 148000 //x4 resolution
-#define RIGHT_WHEEL_CIRCUMFERENCE 0.8 //in meters
-#define LEFT_WHEEL_CIRCUMFERENCE  0.78 //in meters
-
-#endif

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Inc/encoder.h b/utils/pid_tuning/otto_pid_tuning/Core/Inc/encoder.h
index 5792c922082294c764656f656e2e59d6d9e38409..50004a68f054b2f9e557a5fd92d1d0f83add9f42 100644 (file)
--- a/utils/pid_tuning/otto_pid_tuning/Core/Inc/encoder.h
+++ b/utils/pid_tuning/otto_pid_tuning/Core/Inc/encoder.h
@@ -2,7 +2,6 @@
 #define ENCODER_H
 
 #include "main.h"
-#include "constants.h"
 
 class Encoder {
  public:
@@ -11,15 +10,21 @@ class Encoder {
   uint32_t current_millis_;
   int32_t ticks_;  //if negative the wheel is going backwards
   float wheel_circumference_;
+  int ticks_per_revolution_;
 
   Encoder() {
     timer_ = NULL;
     wheel_circumference_ = 0;
+    ticks_per_revolution_ = 0;
   }
 
-  Encoder(TIM_HandleTypeDef *timer, float wheel_circ);
+  Encoder(TIM_HandleTypeDef *timer, float wheel_circ,
+          int ticks_per_revolution) {
+    timer_ = timer;
+    wheel_circumference_ = wheel_circ;
+    ticks_per_revolution_ = ticks_per_revolution;
 
-  void Setup();
+  }
 
   int GetCount() {
     int count = ((int) __HAL_TIM_GET_COUNTER(this->timer_)
@@ -29,14 +34,38 @@ class Encoder {
 
   void ResetCount() {
     //set counter to half its maximum value
-    __HAL_TIM_SET_COUNTER(timer_, (timer_->Init.Period) / 2);
+    __HAL_TIM_SET_COUNTER(timer_, (timer_->Init.Period / 2));
+  }
+
+  void Setup() {
+    HAL_TIM_Encoder_Start(timer_, TIM_CHANNEL_ALL);
+    this->ResetCount();
+    this->previous_millis_ = 0;
+    this->current_millis_ = HAL_GetTick();
   }
 
-  void UpdateValues();
+  void UpdateValues() {
+    this->previous_millis_ = this->current_millis_;
+    this->current_millis_ = HAL_GetTick();
+    this->ticks_ = this->GetCount();
+    this->ResetCount();
+  }
 
-  float GetMeters();
+  float GetMeters() {
+    float meters = ((float) this->ticks_ * this->wheel_circumference_)
+        / ticks_per_revolution_;
+    return meters;
+  }
 
-  float GetLinearVelocity();
+  float GetLinearVelocity() {
+    this->UpdateValues();
+    float meters = this->GetMeters();
+    float deltaTime = this->current_millis_ - this->previous_millis_;
+    if (deltaTime == 0)
+      return 0;
+    float linear_velocity = (meters / (deltaTime / 1000));
+    return linear_velocity;
+  }
 
 };
 #endif

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Inc/motor_controller.h b/utils/pid_tuning/otto_pid_tuning/Core/Inc/motor_controller.h
index 597ca0a0d1f17bc9413a1e3a546fec86381c7cfa..19d283bbafe87c5a02be724dc4a4c4aaa8d3eaa0 100644 (file)
--- a/utils/pid_tuning/otto_pid_tuning/Core/Inc/motor_controller.h
+++ b/utils/pid_tuning/otto_pid_tuning/Core/Inc/motor_controller.h
@@ -22,11 +22,12 @@ class MotorController {
     this->dir_pin_ = dir_pin;
     this->pwm_timer_ = pwm_timer;
     this->pwm_channel_ = pwm_channel;
-    this->max_dutycycle_ = pwm_timer->Instance->ARR;
+    this->max_dutycycle_ = 0;
   }
 
   void setup() {
     HAL_TIM_PWM_Start(pwm_timer_, pwm_channel_);
+    this->max_dutycycle_ = pwm_timer_->Instance->ARR;
   }
 
   void set_speed(int duty_cycle) {

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Inc/odometry.h b/utils/pid_tuning/otto_pid_tuning/Core/Inc/odometry.h
index 2d13eeb0ae9fa836a690312268876c420494bb84..85f24f7c93a9b246b8db644487951b5ab965acc9 100644 (file)
--- a/utils/pid_tuning/otto_pid_tuning/Core/Inc/odometry.h
+++ b/utils/pid_tuning/otto_pid_tuning/Core/Inc/odometry.h
@@ -1,30 +1,35 @@
 #ifndef ODOMETRY_H
 #define ODOMETRY_H
 
-#include "constants.h"
-
 class Odometry {
  private:
 
   float left_velocity_;
   float right_velocity_;
-
+  float baseline_;
 
  public:
   Odometry() {
     left_velocity_ = 0;
     right_velocity_ = 0;
+    baseline_ = 0;
+  }
+
+  Odometry(float baseline) {
+    left_velocity_ = 0;
+    right_velocity_ = 0;
+    baseline_ = baseline;
   }
 
   void UpdateValues(float linear_vel, float angular_vel) {
-    left_velocity_ = linear_vel - (BASELINE * angular_vel)/2;
-    right_velocity_ = 2 * linear_vel - left_velocity_;
+    left_velocity_ = linear_vel - (baseline_ * angular_vel) / 2;
+    right_velocity_ = linear_vel + (baseline_ * angular_vel) / 2;
   }
 
-  float GetLeftVelocity(){
+  float GetLeftVelocity() {
     return left_velocity_;
   }
-  float GetRightVelocity(){
+  float GetRightVelocity() {
     return right_velocity_;
   }
 

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Src/encoder.cpp b/utils/pid_tuning/otto_pid_tuning/Core/Src/encoder.cpp
deleted file mode 100644 (file)
index b826703..0000000
--- a/utils/pid_tuning/otto_pid_tuning/Core/Src/encoder.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "encoder.h"
-
-Encoder::Encoder(TIM_HandleTypeDef *timer, float wheel_circ) {
-  timer_ = timer;
-  wheel_circumference_ = wheel_circ;
-}
-
-void Encoder::Setup() {
-  HAL_TIM_Encoder_Start(timer_, TIM_CHANNEL_ALL);
-  this->ResetCount();
-  this->previous_millis_ = 0;
-  this->current_millis_ = HAL_GetTick();
-}
-
-void Encoder::UpdateValues() {
-  this->previous_millis_ = this->current_millis_;
-  this->current_millis_ = HAL_GetTick();
-  this->ticks_ = this->GetCount();
-  this->ResetCount();
-}
-
-float Encoder::GetMeters() {
-  this->UpdateValues();
-  float meters = ((float) this->ticks_ * this->wheel_circumference_)
-      / TICKS_PER_REVOLUTION;
-  return meters;
-}
-
-float Encoder::GetLinearVelocity() {
-  this->UpdateValues();
-  float meters = ((float) this->ticks_ * this->wheel_circumference_)
-      / TICKS_PER_REVOLUTION;
-  float deltaTime = this->current_millis_ - this->previous_millis_;
-  if (deltaTime == 0)
-    return 0;
-  float linear_velocity = (meters / (deltaTime / 1000));
-  return linear_velocity;
-}
-

diff --git a/utils/pid_tuning/otto_pid_tuning/Core/Src/main.cpp b/utils/pid_tuning/otto_pid_tuning/Core/Src/main.cpp
index 84465c9a1154d20e29f67fc5156ea2312295b190..c6e27d942261321afaa6227ac9895fb88a5557aa 100644 (file)
--- a/utils/pid_tuning/otto_pid_tuning/Core/Src/main.cpp
+++ b/utils/pid_tuning/otto_pid_tuning/Core/Src/main.cpp
@@ -58,10 +58,18 @@ UART_HandleTypeDef huart6;
 \r
 /* USER CODE BEGIN PV */\r
 \r
+//Parameters\r
+float baseline = 0.3;\r
+int ticks_per_revolution = 148000;  //x4 resolution\r
+float right_wheel_circumference = 0.783;  //in meters\r
+float left_wheel_circumference = 0.789;  //in meters\r
+\r
 //Odometry\r
-Encoder right_encoder = Encoder(&htim5, RIGHT_WHEEL_CIRCUMFERENCE);\r
-Encoder left_encoder = Encoder(&htim2, LEFT_WHEEL_CIRCUMFERENCE);\r
-Odometry odom = Odometry();\r
+Encoder right_encoder = Encoder(&htim5, right_wheel_circumference,\r
+                                ticks_per_revolution);\r
+Encoder left_encoder = Encoder(&htim2, left_wheel_circumference,\r
+                               ticks_per_revolution);\r
+Odometry odom = Odometry(baseline);\r
 float left_velocity = 0;\r
 float right_velocity = 0;\r
 \r