Working swerve drive
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evlryah
parent
59be703a36
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0a49ecfa40
@ -57,20 +57,18 @@ extern long last_p;
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// This value must always be at least 2, otherwise the code will break due to there being an array with a zero or negative length or a division by zero
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#define ENCODER_BUFFER_ENTRY_COUNT 5
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// Steering parameters
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#define STEERING_ENCODER_TICKS_PER_ROTATION (1024.0 * 8.0) // Number of encoder ticks per full rotation of each swerve drive steering motor
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#define STEERING_ENCODER_TICKS_PER_DEGREE (STEERING_ENCODER_TICKS_PER_ROTATION / 360.0) // Number of encoder ticks per degree of rotation for the swerve drive steering motors
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#define STEERING_MOTOR_SPEED_LIMIT 60.0 // Maximum speed allowed for the steering motors (out of 127.0)
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// Steering PID parameters
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#define STEERING_SLOW_DELTA 35.0 // Start decelerating the steering motors linearly when they're within this many degrees of their target angle
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#define STEERING_ACCEL_SLOW_DELAY 0.20 // Estimated acceleration delay of steering motors at low speeds (seconds)
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#define STEERING_TOLERANCE 0.5 // Steering tolerance in degrees
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#define STEERING_STALL_DETECT_ANGULAR_SPEED 5.0 // Detect steering motor stall if measured angular speed is below this
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#define STEERING_SLOW_APPROACH_SPEED 0.12 // Slow approach speed for steering motors
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#define STEERING_TOLERANCE_DISABLE_DRIVE 2.0 // Disable the drive motors if any steering motor is off-target by more than this many degrees
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// Number of encoder ticks per full rotation of each swerve drive steering motor
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#define STEERING_ENCODER_TICKS_PER_ROTATION (1024.0 * 8.0)
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// Number of encoder ticks per degree of rotation for the swerve drive steering motors
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#define STEERING_ENCODER_TICKS_PER_DEGREE (STEERING_ENCODER_TICKS_PER_ROTATION / 360.0)
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// Maximum speed allowed for the steering motors (out of 127.0)
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#define STEERING_MOTOR_SPEED_LIMIT 15.0 // TODO as of 20230927, lower this if they're spinning too fast for the robot to handle
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// Start decelerating the steering motors linearly when they're within this many degrees of their target angle
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#define STEERING_SLOW_DELTA 5.0
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// Estimated acceleration delay of steering motors at low speeds (seconds)
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#define STEERING_ACCEL_SLOW_DELAY 0.20
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// Claw status
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#define CLAW_UNKNOWN 1 // Position unknown
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61
src/main.cpp
61
src/main.cpp
@ -476,27 +476,49 @@ void set_motor(byte motor, int speed) {
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}
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else if (motor == 14) { // all steppers together
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if (abs(speed) > 0) {
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Serial.printf("DEBUG 1F1A: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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ioex1.digitalWrite(2, LOW); // enable
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stepperX_pos = speed * 96 + stepperX.currentPosition();
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Serial.printf("DEBUG 1F1B: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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stepperX.setMaxSpeed(abs(speed) / 127.0 * defMaxSpeed);
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stepperX.moveTo(stepperX_pos);
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stepperY.setMaxSpeed(abs(speed) / 127.0 * defMaxSpeed);
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stepperY.moveTo(stepperX_pos);
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stepperZ.setMaxSpeed(abs(speed) / 127.0 * defMaxSpeed);
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stepperZ.moveTo(stepperX_pos);
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//stepperZ.setMaxSpeed(abs(speed) / 127.0 * defMaxSpeed);
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//stepperZ.moveTo(stepperX_pos);
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Serial.printf("DEBUG 1F1C: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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stepperX.runState();
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stepperY.runState();
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stepperZ.runState();
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//stepperZ.runState();
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Serial.printf("DEBUG 1F1D: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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} else {
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Serial.printf("DEBUG 1F2A: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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ioex1.digitalWrite(2, HIGH); // disable
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stepperX_pos = stepperX.currentPosition();
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Serial.printf("DEBUG 1F2B: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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// stepperX_pos = stepperX.currentPosition();
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Serial.printf("DEBUG 1F2C: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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stepperX.setCurrentPosition(stepperX_pos);
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stepperY.setCurrentPosition(stepperX_pos);
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stepperZ.setCurrentPosition(stepperX_pos);
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stepperX.stop();
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stepperY.stop();
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stepperZ.stop();
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//stepperZ.setCurrentPosition(stepperX_pos);
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Serial.printf("DEBUG 1F2D: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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//stepperX.stop();
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//stepperY.stop();
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//stepperZ.stop();
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}
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@ -983,11 +1005,13 @@ void loop() {
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swrv = updateEncoderData(swrv, enc1.getCount(), enc2.getCount(), enc3.getCount(), enc4.getCount()); // Update encoder data in the swerve_drive struct
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swrv = updateSwerveCommand(swrv); // Calculate power for each drive and steering motor
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Serial.printf("DEBUG 1A: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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//DEBUG TESTING code:
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Serial.printf("FL spin target %f \t\t at %f\r\n", swrv.front_left_target_spin, normalizeAngle(swrv.front_right_spin_angle));
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Serial.printf("FR spin target %f \t\t at %f\r\n", swrv.front_right_target_spin, normalizeAngle(swrv.front_right_spin_angle));
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//Serial.printf("FR spin target %f \t\t at %f\r\n", swrv.front_right_target_spin, swrv.front_right_spin_angle);
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//Serial.printf("BL spin target %f \t\t at %f\r\n", swrv.back_left_target_spin, swrv.back_left_spin_angle);
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Serial.printf("BL spin target %f \t\t at %f\r\n", swrv.back_left_target_spin, normalizeAngle(swrv.back_left_spin_angle));
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Serial.printf("BR spin target %f \t\t at %f\r\n", swrv.back_right_target_spin, normalizeAngle(swrv.back_right_spin_angle));
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// Arm motor control (stepper motors), DPAD_UP to move arm up, DPAD_DOWN to move arm down, both or neither being pressed stops the arm
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float arm_speed = (float) (((int) getButton(DPAD_UP)) - ((int) getButton(DPAD_DOWN))); // TODO 20230929 confirm speed and polarity
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@ -1013,29 +1037,40 @@ void loop() {
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int new_tilt_command = TILT_COMMAND_UNSET;
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clawarm = updateTiltCommand(clawarm, new_tilt_command);
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Serial.printf("DEBUG 1B: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude, previous_loop_processing_duration_core_0); // DEBUG ONLY, telemetry
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Serial.printf("DEBUG 1C: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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// update motors after calculation
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// TESTING 20230929 comment out to test steering
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set_motor(FLDRIVE, swrv.front_left_power);
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set_motor(BRDRIVE, swrv.back_right_power);
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set_motor(FRDRIVE, swrv.front_right_power);
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set_motor(BLDRIVE, swrv.back_left_power);
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Serial.printf("DEBUG 1D: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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// Lock the spinlock and transfer the steering motor data to core 1, which will send the data to the sabertooth motor controllers
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spinlock_lock_core_0(&drive_power_command_spinlock_flag);
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Serial.printf("DEBUG 1E: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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power_data_transfer_fl = swrv.front_left_spin_power;
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// TESTING 20230929 comment out since encoders not yet connected
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power_data_transfer_fr = swrv.front_right_spin_power;
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power_data_transfer_bl = swrv.back_left_spin_power;
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power_data_transfer_br = swrv.back_right_spin_power;
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spinlock_release(&drive_power_command_spinlock_flag);
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Serial.printf("DEBUG 1F: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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// update stepper motors
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// TESTING: comment out this code to check performance impact
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set_motor(LIFTALL, clawarm.arm_set_motor_int);
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Serial.printf("DEBUG 1G: %llu ms\r\n", millis() - previous_loop_start_time_core_0);
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// update servos
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/*
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// TODO: Figure out servo mapping
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@ -56,22 +56,24 @@ swerve_drive updateSwerveCommand(swerve_drive input)
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swerve_drive out = input;
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// Set the new speed of the steering motors
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if((out.target_drive_power != 0.0f || out.current_drive_power != 0.0f) && out.enable_steering) { // Only set the steering power if the robot is trying to move, and if steering is enabled
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if(/*(out.target_drive_power != 0.0f || out.current_drive_power != 0.0f) &&*/ out.enable_steering) { // Only set the steering power if the robot is trying to move, and if steering is enabled
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// Calculate the distance and direction each motor needs to steer from where it is now
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float front_left_delta = closestAngle(out.front_left_spin_angle, out.front_left_target_spin);
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float front_right_delta = closestAngle(out.front_right_spin_angle, out.front_right_target_spin);
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float back_left_delta = closestAngle(out.back_left_spin_angle, out.back_left_target_spin);
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float back_right_delta = closestAngle(out.back_right_spin_angle, out.back_right_target_spin);
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out.front_left_spin_power = calculateSteeringMotorSpeed(front_left_delta);
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out.front_right_spin_power = calculateSteeringMotorSpeed(front_right_delta);
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out.back_left_spin_power = calculateSteeringMotorSpeed(back_left_delta);
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out.back_right_spin_power = calculateSteeringMotorSpeed(back_right_delta);
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// Use the delta and speed of each steering motor to calculate the necessary speed
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out.front_left_spin_power = calculateSteeringMotorSpeed(front_left_delta, out.front_left_measured_spin_speed);
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out.front_right_spin_power = calculateSteeringMotorSpeed(front_right_delta, out.front_right_measured_spin_speed);
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out.back_left_spin_power = calculateSteeringMotorSpeed(back_left_delta, out.back_left_measured_spin_speed);
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out.back_right_spin_power = calculateSteeringMotorSpeed(back_right_delta, out.back_right_measured_spin_speed);
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// TESTING DEBUG print 20230929
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Serial.printf("FR delta = %f\t\tBL delta = %f\r\n", front_right_delta, back_left_delta);
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Serial.printf("FR steer = %f\t\tBL steer = %f\r\n", out.front_right_spin_power, out.back_left_spin_power);
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Serial.printf("FL delta = %f\t\tFL steer = %f\r\n", front_left_delta, out.front_left_spin_power);
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Serial.printf("FR delta = %f\t\tFR steer = %f\r\n", front_right_delta, out.front_right_spin_power);
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Serial.printf("BL delta = %f\t\tBL steer = %f\r\n", back_left_delta, out.back_left_spin_power);
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Serial.printf("BR delta = %f\t\tBR steer = %f\r\n", back_right_delta, out.back_right_spin_power);
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} else { // Stop the steering motors if the robot is stopped and not trying to move, or if steering is disabled
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out.front_left_spin_power = 0.0f;
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@ -81,25 +83,35 @@ swerve_drive updateSwerveCommand(swerve_drive input)
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}
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// Set the current drive power to the target drive power, TODO: this is TEMPORARY, add in something to slow the current (set) speed until the wheels are in the correct direction
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out.current_drive_power = out.target_drive_power;
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//out.current_drive_power = out.target_drive_power;
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float max_abs_steering_delta = max(max(fabs(front_left_delta), fabs(front_right_delta)), max(fabs(back_left_delta), fabs(back_right_delta)));
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float steering_disable_drive = (float) (max_abs_steering_delta <= STEERING_TOLERANCE_DISABLE_DRIVE);
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// Set the new drive motor power, apply coefficients, set between -127.0 and 127.0
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out.front_left_power = out.current_drive_power * out.front_left_coefficient * MOTOR_MAX_POWER;
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out.front_right_power = out.current_drive_power * out.front_right_coefficient * MOTOR_MAX_POWER;
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out.back_left_power = out.current_drive_power * out.back_left_coefficient * MOTOR_MAX_POWER;
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out.back_right_power = out.current_drive_power * out.back_right_coefficient * MOTOR_MAX_POWER;
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out.front_left_power = out.current_drive_power * out.front_left_coefficient * steering_disable_drive * MOTOR_MAX_POWER;
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out.front_right_power = out.current_drive_power * out.front_right_coefficient * steering_disable_drive * MOTOR_MAX_POWER;
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out.back_left_power = out.current_drive_power * out.back_left_coefficient * steering_disable_drive * MOTOR_MAX_POWER;
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out.back_right_power = out.current_drive_power * out.back_right_coefficient * steering_disable_drive * MOTOR_MAX_POWER;
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return out;
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}
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float calculateSteeringMotorSpeed(float steering_delta) // Calculate the speed of a steering motor based on its distance from its target angle
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float calculateSteeringMotorSpeed(float steering_delta, float current_angular_speed) // Calculate the speed of a steering motor based on its distance from its target angle and its current angular speed
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{
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float steering_limit_signed = STEERING_MOTOR_SPEED_LIMIT * (steering_delta < 0.0f ? -1.0f : 1.0f);
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float abs_steering_delta = fabs(steering_delta);
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if(abs_steering_delta > STEERING_SLOW_DELTA) { // In full speed range, still far enough away from the target angle
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return steering_limit_signed;
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return STEERING_MOTOR_SPEED_LIMIT * (steering_delta < 0.0f ? -1.0f : 1.0f);
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} else { // Slow down the speed of the steering motor since it's close to its target angle
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return steering_limit_signed * (1.0f - (abs_steering_delta / STEERING_SLOW_DELTA));
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steering_delta += STEERING_ACCEL_SLOW_DELAY * current_angular_speed; // Modify the steering delta to the estimated delta in STEERING_ACCEL_SLOW_DELAY seconds to account for motor acceleration
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float steering_limit_signed = STEERING_MOTOR_SPEED_LIMIT * (steering_delta < 0.0f ? -1.0f : 1.0f); // Update the sign to account for the future location estimation above
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abs_steering_delta = fabs(steering_delta); // Update abs_steering_delta with the new steering_delta
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float steering_speed_fraction = powf(abs_steering_delta / STEERING_SLOW_DELTA, 2.0f); // Fraction of full speed being used
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//return steering_limit_signed * (1.0f - (abs_steering_delta / STEERING_SLOW_DELTA));
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if(current_angular_speed < STEERING_STALL_DETECT_ANGULAR_SPEED) { // Detect motor stall during approach and increase speed to allow for approach
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// steering_speed_fraction += STEERING_SLOW_APPROACH_SPEED; // Commented out until this is necessary
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}
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return steering_limit_signed * steering_speed_fraction; // Apply the direction
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}
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}
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@ -242,7 +254,7 @@ swerve_drive rotationDrive(swerve_drive input, float target_speed) // Implementa
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//float normalized_target_angle = normalizeAngle(target_angle); // Normalize the target angle
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out = setTargetSpin(out, 45.0, 135.0, 225.0, 315.0); // Set the target angle for each rotation motor
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out = setTargetSpin(out, 45.0, 135.0, 315.0, 225.0); // Set the target angle for each rotation motor
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out = setMotorCoefficients(out, 1.0, 1.0, 1.0, 1.0); // Set the motor speed coefficients to 1 for all motors
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out = setDriveTargetPower(out, target_speed); // Set the power
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@ -81,7 +81,7 @@ swerve_drive initializeSwerveDrive(int front_left_encoder, int front_right_encod
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swerve_drive updateSwerveCommand(swerve_drive input); // This function calculates the robot's current speed and attempts to modify the current state of the drive towards the target drive state
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float calculateSteeringMotorSpeed(float steering_delta); // Calculate the speed of a steering motor based on its distance from its target angle
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float calculateSteeringMotorSpeed(float steering_delta, float current_angular_speed); // Calculate the speed of a steering motor based on its distance from its target angle and its current angular speed
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swerve_drive updateEncoderData(swerve_drive in, int front_left_encoder, int front_right_encoder, int back_left_encoder, int back_right_encoder); // Process new encoder data, calculate the speed and angle of the steering motors
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