merge
This commit is contained in:
commit
dc3b7d6ff5
|
|
@ -23,7 +23,7 @@ unsigned long last_log_send=0;
|
|||
#define LOGMININTERVAL 20 //minimum interval (ms) to send logs
|
||||
#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
|
||||
|
||||
#define WRITE_HEADER_TIME 1000
|
||||
#define WRITE_HEADER_TIME 400 //just before FEEDBACKRECEIVETIMEOUT, so header gets written before error comments
|
||||
bool log_header_written = false;
|
||||
|
||||
|
||||
|
|
@ -57,6 +57,14 @@ unsigned long brake_ok_time=0;
|
|||
bool error_throttle_outofrange=false;
|
||||
bool error_brake_outofrange=false;
|
||||
|
||||
unsigned long last_feedback=0; //time millis at last feedback receive
|
||||
|
||||
float meanSpeedms=0;
|
||||
float trip=0; //trip distance in meters
|
||||
float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi
|
||||
|
||||
|
||||
|
||||
#define PIN_START A9
|
||||
#define PIN_LED_START 2 //Enginge start led
|
||||
|
||||
|
|
@ -112,12 +120,12 @@ SerialCommand CommandFront;
|
|||
SerialCommand CommandRear;
|
||||
|
||||
|
||||
typedef struct{
|
||||
typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
|
||||
uint16_t start;
|
||||
int16_t cmd1;
|
||||
int16_t cmd2;
|
||||
int16_t speedL_meas; //left speed is negative when driving forward
|
||||
int16_t speedR_meas; //right speed is positive when driving forward
|
||||
int16_t speedL_meas; //left speed is positive when driving forward
|
||||
int16_t speedR_meas; //right speed is negatie when driving forward
|
||||
int16_t batVoltage;
|
||||
int16_t boardTemp;
|
||||
int16_t curL_DC; //negative values are current consumed. positive values mean generated current
|
||||
|
|
@ -130,8 +138,8 @@ SerialFeedback NewFeedbackFront;
|
|||
SerialFeedback FeedbackRear;
|
||||
SerialFeedback NewFeedbackRear;
|
||||
|
||||
#define CURRENT_FILTER_SIZE 20 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
|
||||
#define CURRENT_MEANVALUECOUNT 4 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
|
||||
#define CURRENT_FILTER_SIZE 40 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
|
||||
#define CURRENT_MEANVALUECOUNT 10 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
|
||||
typedef struct{
|
||||
int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
|
||||
int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
|
||||
|
|
@ -285,6 +293,13 @@ void loop() {
|
|||
updateMotorparams(motorparamsRear,FeedbackRear);
|
||||
}
|
||||
|
||||
if (newData2 || newData3) { //when new data arrived from one controller
|
||||
float _meanRPM=FeedbackFront.speedL_meas-FeedbackFront.speedR_meas+FeedbackRear.speedL_meas-FeedbackRear.speedR_meas;
|
||||
float meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
|
||||
trip+=abs(meanSpeedms)* (millis()-last_feedback) / 1000.0;
|
||||
last_feedback=millis();
|
||||
}
|
||||
|
||||
|
||||
if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
|
||||
last_adcread=loopmillis;
|
||||
|
|
@ -341,9 +356,9 @@ float filterMedian(int16_t* values) {
|
|||
void writeLogHeader(HardwareSerial &SerialRef) {
|
||||
SerialRef.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
|
||||
SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
|
||||
SerialRef.print("speed_FrontL,speed_FrontR,speed_RearL,speed_RearR,");
|
||||
SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
|
||||
SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
|
||||
SerialRef.println("currentAll,throttle,brake");
|
||||
SerialRef.println("currentAll,throttle,brake,speed,trip");
|
||||
}
|
||||
|
||||
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
|
||||
|
|
@ -359,10 +374,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
|
|||
SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
|
||||
SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
|
||||
|
||||
SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
|
||||
SerialRef.print(fbfront.speedR_meas); SerialRef.print(",");
|
||||
SerialRef.print(-fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
|
||||
SerialRef.print(fbrear.speedR_meas); SerialRef.print(",");
|
||||
SerialRef.print(fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
|
||||
SerialRef.print(-fbfront.speedR_meas); SerialRef.print(",");
|
||||
SerialRef.print(fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
|
||||
SerialRef.print(-fbrear.speedR_meas); SerialRef.print(",");
|
||||
|
||||
SerialRef.print(fbfront.boardTemp/10.0); SerialRef.print(","); //in degC
|
||||
SerialRef.print(fbrear.boardTemp/10.0); SerialRef.print(","); //in degC
|
||||
|
|
@ -371,7 +386,9 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
|
|||
|
||||
SerialRef.print(currentAll,3); SerialRef.print(","); //invert. positive current is drive current
|
||||
SerialRef.print(throttle); SerialRef.print(",");
|
||||
SerialRef.print(brake); SerialRef.println();
|
||||
SerialRef.print(brake); SerialRef.print(",");
|
||||
SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s
|
||||
SerialRef.print(trip); SerialRef.println(); //in m
|
||||
}
|
||||
|
||||
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
|
||||
|
|
@ -465,7 +482,7 @@ void failChecks() {
|
|||
|
||||
void sendCMD() {
|
||||
#define MINIMUM_CONSTANT_CMD_REDUCE 1 //reduce cmd every loop by this constant amount when freewheeling/braking
|
||||
#define BREAK_CMDREDUCE_PROPORTIONAL 500 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
|
||||
#define BREAK_CMDREDUCE_PROPORTIONAL 100 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
|
||||
int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_PROPORTIONAL*SENDPERIOD/1000)); //reduce cmd value every cycle
|
||||
#define STARTBREAKCURRENT 5 //Ampere. at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
|
||||
#define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
|
||||
|
|
@ -569,7 +586,7 @@ void readButtons() {
|
|||
|
||||
if (button_start_state) { //pressed
|
||||
if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long
|
||||
if (throttle_pos<=0 && brake_pos<=0 && !armed) { //brake or thottle not pressed
|
||||
if (throttle_pos<=0 && brake_pos<=0 && controllers_connected && !armed) { //brake or thottle not pressed, controllers connected
|
||||
armed=true; //arm if button pressed long enough
|
||||
writeLogComment(Serial1,loopmillis, "Armed by button");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 898898a63c6b494e0525df8a8ed2da98fcd5cdb1
|
||||
Subproject commit 40eb4916f98447f23c28058e31cd867cbc8f0e6c
|
||||
|
|
@ -47,7 +47,7 @@ public class Timeline
|
|||
|
||||
while ((cID+1 < logdata.getRowCount()) && ( t2 > (logdata.getRow(cID+1).getFloat("time")))) { //while endtime not reached
|
||||
TableRow row = logdata.getRow(cID);
|
||||
nextTimeData=(long)(logdata.getRow(cID+1).getFloat("time")*1000); //get time and convert from seconds to ms
|
||||
nextTimeData=(int)(logdata.getRow(cID+1).getFloat("time")*1000); //get time and convert from seconds to ms
|
||||
|
||||
lastTimeMillis=nextTimeMillis;
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,52 @@
|
|||
import matplotlib.pyplot as plt
|
||||
import csv
|
||||
|
||||
x=[]
|
||||
speed_FrontL=[]
|
||||
speed_FrontR=[]
|
||||
speed_RearL=[]
|
||||
speed_RearR=[]
|
||||
|
||||
fp = open('LOG00193_20210516_fixedSpeedLR_freewheelingTest.TXT')
|
||||
|
||||
rdr = csv.DictReader(filter(lambda row: row[0]!='#', fp))
|
||||
for row in rdr:
|
||||
#print(row)
|
||||
x.append(float(row['cmd_FrontL']))
|
||||
|
||||
speed_FrontL.append(float(row['speed_FrontL']))
|
||||
speed_FrontR.append(float(row['speed_FrontR']))
|
||||
speed_RearL.append(float(row['speed_RearL']))
|
||||
speed_RearR.append(float(row['speed_RearR']))
|
||||
fp.close()
|
||||
|
||||
|
||||
#plt.plot(x,y, label='Loaded from file!')
|
||||
scattersize=5
|
||||
scatteralpha=0.1
|
||||
plt.scatter(x,speed_FrontL, s=scattersize, alpha=scatteralpha, label="speed_FrontL")
|
||||
plt.scatter(x,speed_FrontR, s=scattersize, alpha=scatteralpha, label="speed_FrontR")
|
||||
plt.scatter(x,speed_RearL, s=scattersize, alpha=scatteralpha, label="speed_RearL")
|
||||
plt.scatter(x,speed_RearR, s=scattersize, alpha=scatteralpha, label="speed_RearR")
|
||||
plt.xlabel('cmd')
|
||||
plt.ylabel('speed')
|
||||
plt.title('Interesting Graph\nCheck it out')
|
||||
plt.legend()
|
||||
plt.show()
|
||||
|
||||
|
||||
'''
|
||||
with open(,'r') as csvfile:
|
||||
plots = csv.reader(filter(lambda row: row[0]!='#', csvfile), delimiter=',')
|
||||
for row in plots:
|
||||
x.append(float(row[0]))
|
||||
y.append(float(row[1]))
|
||||
|
||||
plt.plot(x,y, label='Loaded from file!')
|
||||
plt.xlabel('x')
|
||||
plt.ylabel('y')
|
||||
plt.title('Interesting Graph\nCheck it out')
|
||||
plt.legend()
|
||||
plt.show()
|
||||
'''
|
||||
|
||||
|
|
@ -62,14 +62,17 @@ int timeoffset=0; //for moving timeslider
|
|||
Table logdata;
|
||||
int nextID=0; //next row number to be displayed
|
||||
long lastTimeData=0; //last time data received
|
||||
long nextTimeData=0; //time of nextID row
|
||||
long lastTimeMillis=0; //local time
|
||||
long nextTimeMillis=0; //local time
|
||||
int nextTimeData=0; //time of nextID row
|
||||
int lastTimeMillis=0; //local time
|
||||
int nextTimeMillis=0; //local time
|
||||
|
||||
boolean newdataforced=true;
|
||||
|
||||
int dataErrorCount=0;
|
||||
|
||||
boolean running=true;
|
||||
int timePaused=0;
|
||||
|
||||
//Data from log
|
||||
int cmd_FrontL;
|
||||
int cmd_FrontR;
|
||||
|
|
@ -114,20 +117,33 @@ void setup() {
|
|||
serialString = null;
|
||||
}else{
|
||||
logdata = loadTable(logfile_name, "header, csv");
|
||||
float _checkTimeLast=-100;
|
||||
|
||||
|
||||
for (int i=0; i < logdata.getRowCount();i++) {
|
||||
float _checkTimeCurrent=logdata.getRow(i).getFloat("time")*1000;
|
||||
|
||||
if (logdata.getRow(i).getString(0).charAt(0)=='#') { //check if row starts with # (comment)
|
||||
print("removed row:");
|
||||
for (int is=0;is< logdata.getRow(i).getColumnCount(); is++)
|
||||
print("removed comment:");
|
||||
for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
|
||||
{
|
||||
print(logdata.getRow(i).getString(is)+",");
|
||||
print(", "+logdata.getRow(i).getString(is));
|
||||
}
|
||||
println();
|
||||
logdata.removeRow(i);
|
||||
logdata.removeRow(i); i--;
|
||||
}else if (Float.isNaN(_checkTimeCurrent) || _checkTimeCurrent <= _checkTimeLast) { //check if time is plausible
|
||||
print("removed unplausible time:");
|
||||
for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
|
||||
{
|
||||
print(", "+logdata.getRow(i).getString(is));
|
||||
}
|
||||
println();
|
||||
logdata.removeRow(i); i--;
|
||||
}
|
||||
}
|
||||
logdata_start_time=logdata.getRow(0).getFloat("time");
|
||||
logdata_end_time = logdata.getRow(logdata.getRowCount()-1).getFloat("time");
|
||||
println("loaded "+logdata.getRowCount()+" lines. Times: "+logdata_start_time+"s to "+logdata_end_time+"s");
|
||||
println("loaded "+logdata.getRowCount()+" lines. Starttime: "+logdata_start_time+"s , Endtime: "+logdata_end_time+"s");
|
||||
}
|
||||
|
||||
PVector pos_vis_cmd = new PVector(100,200);
|
||||
|
|
@ -247,15 +263,22 @@ void setup() {
|
|||
|
||||
|
||||
if (showTimeline) {
|
||||
println("Preparing Timeline");
|
||||
tl = new Timeline(30,height-30, width-30*2, 28);
|
||||
tl.setTimes(logdata_start_time,logdata_end_time);
|
||||
tl.generatePreview(logdata);
|
||||
println("Timeline prepared");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void draw() {
|
||||
long loopmillis=millis()-timeoffset;
|
||||
int loopmillis=0;
|
||||
if (running) {
|
||||
loopmillis=millis()-timeoffset;
|
||||
}else{ //paused
|
||||
loopmillis=timePaused-timeoffset;
|
||||
}
|
||||
|
||||
if (useSerial) {
|
||||
if (serial.available() > 0) {
|
||||
|
|
@ -303,7 +326,7 @@ void draw() {
|
|||
TableRow row = logdata.getRow(nextID);
|
||||
|
||||
lastTimeData=nextTimeData;
|
||||
nextTimeData=(long)(logdata.getRow(nextID+1).getFloat("time")*1000); //get time and convert from seconds to ms
|
||||
nextTimeData=(int)(logdata.getRow(nextID+1).getFloat("time")*1000); //get time and convert from seconds to ms
|
||||
|
||||
lastTimeMillis=nextTimeMillis;
|
||||
nextTimeMillis=loopmillis;
|
||||
|
|
@ -315,20 +338,20 @@ void draw() {
|
|||
current_FrontL=row.getFloat("current_FrontL");
|
||||
current_FrontR=row.getFloat("current_FrontR");
|
||||
current_RearL=row.getFloat("current_RearL");
|
||||
current_RearR=row.getFloat("current_RearR");
|
||||
rpm_FrontL=row.getInt("rpm_FrontL");
|
||||
rpm_FrontR=row.getInt("rpm_FrontR");
|
||||
rpm_RearL=row.getInt("rpm_RearL");
|
||||
rpm_RearR=row.getInt("rpm_RearR");
|
||||
temp_Front=row.getFloat("temp_Front");
|
||||
temp_Rear=row.getFloat("temp_Rear");
|
||||
vbat_Front=row.getFloat("vbat_Front");
|
||||
vbat_Rear=row.getFloat("vbat_Rear");
|
||||
currentAll=row.getFloat("currentAll");
|
||||
throttle=row.getInt("throttle");
|
||||
brake=row.getInt("brake");
|
||||
speed=row.getFloat("speed");
|
||||
trip=row.getFloat("trip");
|
||||
current_RearR=row.getFloat("current_RearR");
|
||||
rpm_FrontL=row.getInt("rpm_FrontL");
|
||||
rpm_FrontR=row.getInt("rpm_FrontR");
|
||||
rpm_RearL=row.getInt("rpm_RearL");
|
||||
rpm_RearR=row.getInt("rpm_RearR");
|
||||
temp_Front=row.getFloat("temp_Front");
|
||||
temp_Rear=row.getFloat("temp_Rear");
|
||||
vbat_Front=row.getFloat("vbat_Front");
|
||||
vbat_Rear=row.getFloat("vbat_Rear");
|
||||
currentAll=row.getFloat("currentAll");
|
||||
throttle=row.getInt("throttle");
|
||||
brake=row.getInt("brake");
|
||||
speed=row.getFloat("speed");
|
||||
trip=row.getFloat("trip");
|
||||
|
||||
if (loopmillis-nextTimeData>1000 && nextTimeData>lastTimeData) {//too much behind
|
||||
long _timestep=nextTimeData-lastTimeData; //approximated time step
|
||||
|
|
@ -407,8 +430,14 @@ void draw() {
|
|||
if (!useSerial && loopmillis-lastTimeData>(nextTimeData-lastTimeData)*10) { //deviation too high when reading from file
|
||||
text("ff="+(loopmillis-lastTimeData)+"ms", 5+75*2,12); //show warning
|
||||
}
|
||||
|
||||
if (!running) {
|
||||
fill(color(255,100,100));
|
||||
}
|
||||
text("t="+(loopmillis/1000.0)+"s", 5,12);
|
||||
text("nextID="+nextID, 5,12+12);
|
||||
fill(color(200,200,200));
|
||||
|
||||
|
||||
|
||||
text(""+(dataErrorCount)+" errors", 5+70*3,12);
|
||||
|
||||
|
|
@ -423,12 +452,15 @@ void draw() {
|
|||
|
||||
void keyPressed() {
|
||||
if (key == CODED) {
|
||||
/*if (keyCode == UP) {
|
||||
fillVal = 255;
|
||||
} else if (keyCode == DOWN) {
|
||||
fillVal = 0;
|
||||
}
|
||||
*/
|
||||
if (!running) { //paused
|
||||
if (keyCode == LEFT) {
|
||||
|
||||
} else if (keyCode == RIGHT) {
|
||||
timeoffset=timePaused-nextTimeData;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
} else {
|
||||
//println("key="+keyCode);
|
||||
if (keyCode==82) { //82=r
|
||||
|
|
@ -437,6 +469,14 @@ void keyPressed() {
|
|||
nextID=0;
|
||||
newdataforced=true;
|
||||
}
|
||||
if (keyCode == 32) {
|
||||
if (running) { //switching from running to pause
|
||||
timePaused=millis();
|
||||
}else{ //unpause
|
||||
timeoffset=+millis()-timePaused+timeoffset;
|
||||
}
|
||||
running=!running;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue