optimize rc control
This commit is contained in:
parent
67f0a2cf7e
commit
681e33b355
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@ -59,7 +59,9 @@
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],
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"meta": {
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"version": 2
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},
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@ -10551,16 +10551,6 @@
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@ -10831,16 +10821,6 @@
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@ -11011,16 +10991,6 @@
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@ -11540,16 +11510,6 @@
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(uuid "cee2f43a-7d22-4585-a857-73949bd17a9d")
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)
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(text "Bodge Wire added for PPM"
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(exclude_from_sim no)
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(at 212.852 33.782 0)
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(effects
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(font
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(size 1.27 1.27)
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(text "black"
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(exclude_from_sim no)
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(at 60.325 99.06 0)
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@ -14,6 +14,7 @@
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
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@ -129,6 +130,7 @@
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
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"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
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"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
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@ -1,3 +1,48 @@
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{
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"cmake.configureOnOpen": false
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"cmake.configureOnOpen": false,
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"files.associations": {
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"algorithm": "cpp",
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"array": "cpp",
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"atomic": "cpp",
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"bit": "cpp",
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"*.tcc": "cpp",
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"cctype": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"compare": "cpp",
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"concepts": "cpp",
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"cstdarg": "cpp",
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"cstddef": "cpp",
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"cstdint": "cpp",
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"cstdio": "cpp",
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"cstdlib": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"deque": "cpp",
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"string": "cpp",
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"unordered_map": "cpp",
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"vector": "cpp",
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"exception": "cpp",
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"functional": "cpp",
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"iterator": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"numeric": "cpp",
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"random": "cpp",
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"string_view": "cpp",
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"system_error": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"initializer_list": "cpp",
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"iosfwd": "cpp",
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"limits": "cpp",
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"new": "cpp",
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"numbers": "cpp",
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"ostream": "cpp",
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"stdexcept": "cpp",
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"streambuf": "cpp",
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"cinttypes": "cpp",
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"typeinfo": "cpp"
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}
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}
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@ -137,6 +137,17 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
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display.print("km/h");
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#ifdef RC
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display.setCursor(0,0);
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if (rc_fullcontrol_enabled) {
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display.print("RC Fullcontrol");
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}else if(rc_steer_enabled){
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display.print("RC Steering");
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}
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#endif
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//A
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display.setCursor(SCREEN_WIDTH-37,1);
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static float averaged_filtered_currentAll;
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@ -471,7 +482,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
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//Row 3
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display.print(F("Mode="));
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dtostrf(getRCMode(3),1,0,buf);
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dtostrf(getRCMode(6),1,0,buf);
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display.print((String)buf);
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display.print(F(" %="));
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dtostrf(getPPMSuccessrate(),1,5,buf);
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@ -31,7 +31,8 @@ unsigned long last_ledupdate=0;
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uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
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extern bool rc_enabled;
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extern bool rc_fullcontrol_enabled; //from rc.h
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extern bool rc_steer_enabled;
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void led_dotcircle(unsigned long loopmillis);
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void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
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@ -111,7 +112,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
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}else{
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if (armed) {
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if (rc_enabled) {
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if (rc_fullcontrol_enabled || rc_steer_enabled) {
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led_gauge(loopmillis,escFront.getCmdL(),0,1000,strip.Color(100, 0, 0, 0),strip.Color(0, 50, 50, 0));
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}else{ //normal driving
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if (loopmillis-last_notidle>5000) {
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@ -35,19 +35,17 @@ int16_t getRCThrottle();
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int16_t getRCSteer();
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uint8_t getRCMode(uint8_t modes);
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bool rc_enabled=false;
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bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
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bool rc_steer_enabled=false; //only rc steering
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void initRC() {
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ppmIn.begin(PIN_PPM);
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}
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void readPPM(unsigned long loopmillis) {
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static unsigned long ppm_last_received=0;
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static unsigned long ppm_last_received_success=0;
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int ppm_num = ppmIn.available();
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if (ppm_num > 0) {
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bool ppm_ok=true;
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ppm_last_received=loopmillis;
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float new_ppm[PPM_CHANNELS];
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if (ppm_num != PPM_CHANNELS) {
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ppm_ok=false;
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@ -63,7 +61,6 @@ void readPPM(unsigned long loopmillis) {
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if (ppm_ok) {
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ppm_count_success+=1;
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ppm_last_received_success=loopmillis;
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std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
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}else{
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ppm_count_fail+=1;
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@ -515,11 +515,11 @@ void calculateSetSpeed(unsigned long timediff){
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#ifdef RC
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if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
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rc_enabled=false;
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if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc fullcontrol mode
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rc_fullcontrol_enabled=false;
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}
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if (rc_enabled) {
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if (rc_fullcontrol_enabled) {
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int16_t rcthrottle_pos=getRCThrottle();
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int16_t rcbrake_pos=getRCBrake();
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@ -583,13 +583,25 @@ void calculateSetSpeed(unsigned long timediff){
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cmd_send_toMotor_RR=_cmd_send_toMotor;
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#ifdef RC
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int16_t differential_steering_max=100;
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int16_t differential_steering_max=200;
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if (rc_enabled) {
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#define RC_STEER_ENABLE_WAITTIME 1000/SENDPERIOD*2; //in cycles. every SENDPERIOD
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static uint16_t rc_steer_enable_wait=0; //give some time to release buttons after arming with rc mode to not cancel immediately
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if (rc_steer_enabled) {
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if (rc_steer_enable_wait>0) {
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rc_steer_enable_wait--;
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}else{ //allow control when counter reached 0
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if (control_buttonA || control_buttonB) { //cancel rc modes by button press
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rc_fullcontrol_enabled=false;
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rc_steer_enabled=false;
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}
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float rcsteer=getRCSteer()/1000.0;
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cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
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cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
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}
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}else{
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rc_steer_enable_wait=RC_STEER_ENABLE_WAITTIME;
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}
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#endif
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@ -671,22 +683,22 @@ void calculateSetSpeed(unsigned long timediff){
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}
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if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
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cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_FL+=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_FR-=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_RL+=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_RR-=brake_pos_linear*steeringdifferential_speed;
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}else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
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cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_RR+=brake_pos_expo*steeringdifferential_speed;
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cmd_send_toMotor_FL-=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_FR+=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_RL-=brake_pos_linear*steeringdifferential_speed;
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cmd_send_toMotor_RR+=brake_pos_linear*steeringdifferential_speed;
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}else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards
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_cmd_send_toMotor-=brake_pos_expo*reverse_speed;
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int16_t cmd_send_brake=brake_pos_linear*reverse_speed;
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cmd_send_toMotor_FL=_cmd_send_toMotor;
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cmd_send_toMotor_FR=_cmd_send_toMotor;
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cmd_send_toMotor_RL=_cmd_send_toMotor;
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cmd_send_toMotor_RR=_cmd_send_toMotor;
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cmd_send_toMotor_FL-=cmd_send_brake;
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cmd_send_toMotor_FR-=cmd_send_brake;
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cmd_send_toMotor_RL-=cmd_send_brake;
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cmd_send_toMotor_RR-=cmd_send_brake;
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}
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}
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@ -763,13 +775,62 @@ void readButtons() {
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if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
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armed=true; //arm if button pressed long enough
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writeLogComment(loopmillis, "Armed by button");
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rc_enabled=false;
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rc_fullcontrol_enabled=false;
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rc_steer_enabled=false;
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if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
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uint8_t rcmode=getRCMode(6);
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if (getRCThrottle()==0 && getRCBrake()==0) {
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switch (rcmode) {
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case 0:
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throttle_max=250;
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reverse_speed=0.15;
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max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
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writeLogComment(loopmillis, "Mode: RC 0");
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break;
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case 1:
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throttle_max=250;
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reverse_speed=0.15;
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max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
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rc_enabled=true;
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writeLogComment(loopmillis, "Mode: RC");
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writeLogComment(loopmillis, "Mode: RC 1");
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break;
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case 2:
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throttle_max=300;
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reverse_speed=0.2;
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max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
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writeLogComment(loopmillis, "Mode: RC 2");
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break;
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case 3:
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throttle_max=400;
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reverse_speed=0.25;
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max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
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writeLogComment(loopmillis, "Mode: RC 3");
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break;
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case 4:
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throttle_max=600;
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reverse_speed=0.25;
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max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
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writeLogComment(loopmillis, "Mode: RC 4");
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break;
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case 5:
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throttle_max=750;
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reverse_speed=0.25;
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max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
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writeLogComment(loopmillis, "Mode: RC 5");
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break;
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}
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rc_fullcontrol_enabled=true;
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rc_steer_enabled=true;
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}else{
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writeLogComment(loopmillis, "Not Arming. RC throttle and brake not zero");
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armed=false;
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}
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}else if (control_buttonA) { //button A is held down during start button press
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throttle_max=1000;
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reverse_speed=0.25;
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@ -7,6 +7,13 @@ import numpy as np
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import argparse
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def mapRange(value, inMin, inMax, outMin, outMax,constrain=False):
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if constrain:
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return max(outMin, min(outMax, outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))))
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else:
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return outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))
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parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
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parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
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args = parser.parse_args()
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@ -17,31 +24,91 @@ x = df['timestamp']
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x = [i-x[0] for i in x] #offset time by starttime
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scattersize=1
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scatteralpha=0.1
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def template():
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scattersize=1
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scatteralpha=0.1
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fig, ax1 = plt.subplots()
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fig, ax1 = plt.subplots()
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ax2 = ax1.twinx()
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ax2 = ax1.twinx()
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#plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
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ax1.plot(x,np.array(df['vbat_Front']), c='b', alpha=0.5, label="vbat_Front")
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ax1.plot(x,np.array(df['vbat_Rear']), c='r', alpha=0.5, label="vbat_Rear")
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||||
ax2.plot(x,np.array(df['rpm_FrontL']), c='g', alpha=0.5, label="rpm_FrontL")
|
||||
#plt.plot(x,np.array(df['currentConsumed']), c='g', alpha=0.5, label="currentConsumed")
|
||||
#plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
|
||||
ax1.plot(x,np.array(df['temp_Front']), c='#0000ff', alpha=0.5, label="temp_Front")
|
||||
ax1.plot(x,np.array(df['temp_Rear']), c='#ff0000', alpha=0.5, label="temp_Rear")
|
||||
ax1.plot(x,np.array(df['temp_Air']), c='#00ff00', alpha=0.5, label="temp_Air")
|
||||
#ax2.plot(x,np.array(df['throttle']), c='g', alpha=0.5, label="throttle")
|
||||
|
||||
#plt.scatter(x,df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="rpm_FrontR")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
#plt.ylabel('data')
|
||||
ax1.set_ylabel('first axis')
|
||||
ax2.set_ylabel('second axis')
|
||||
#plt.title('')
|
||||
ax1.legend(loc='upper left')
|
||||
ax2.legend(loc='upper right')
|
||||
plt.show()
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
#ax1.scatter(df['cmd_FrontL'],df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="FrontL")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
#plt.ylabel('data')
|
||||
ax1.set_ylabel('first axis')
|
||||
ax2.set_ylabel('second axis')
|
||||
#plt.title('')
|
||||
ax1.legend(loc='upper left')
|
||||
ax2.legend(loc='upper right')
|
||||
plt.show()
|
||||
|
||||
|
||||
def rpmDifference():
|
||||
scattersize=1
|
||||
scatteralpha=0.1
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
frontRPMdiff=np.convolve(np.array(df['rpm_FrontL'])-np.array(df['rpm_FrontR']), np.ones(10)/10, mode='same')
|
||||
rearRPMdiff=np.convolve(np.array(df['rpm_RearL'])-np.array(df['rpm_RearR']), np.ones(10)/10, mode='same')
|
||||
|
||||
ax1.plot(x,frontRPMdiff, c='#0000ff', alpha=0.5, label="rpm Difference Front")
|
||||
ax1.plot(x,rearRPMdiff, c='#00ff00', alpha=0.5, label="rpm Difference Rear")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
ax1.set_ylabel('rpm Difference')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
def plot_rpmVsCurrent():
|
||||
scattersize=2
|
||||
scatteralpha=0.5
|
||||
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
ax1.scatter(df['rpm_FrontL'],df['current_FrontL'], s=5, alpha=scatteralpha, label="FrontL")
|
||||
ax1.scatter(df['rpm_FrontR'],df['current_FrontR'], s=5, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('rpm')
|
||||
ax1.set_ylabel('current (A)')
|
||||
plt.title('rpm vs current')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
#plot_rpmVsCurrent()
|
||||
rpmDifference()
|
||||
|
||||
|
||||
|
||||
exit()
|
||||
|
|
|
|||
Loading…
Reference in New Issue