224 lines
6.7 KiB
Plaintext
224 lines
6.7 KiB
Plaintext
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import controlP5.*;
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ControlP5 cp5;
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int myColor = color(0,0,0);
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long lastReadADC=0;
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long lastSend=0;
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long lastHBLoop=0;
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int LOOPTIME_CONTROLLER=10; //controller looptime
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long lastLoopController=0;
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int ADC_CALIB_THROTTLE_MIN=2000; //controller
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int ADC_CALIB_THROTTLE_MAX=3120; //controller
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int ADC_READTIME=10; //controller. in ms
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int adc_throttle_raw=ADC_CALIB_THROTTLE_MIN; //controller. raw value read from adc (here slider)
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float adc_throttle=adc_throttle_raw; //controller. internally filtered value
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float ADC_THROTTLE_FILTER=0.2; //controller
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int speedvalue=0;
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int MAXBRAKERATE=7; //Controller
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int SENDPERIOD=50; //controller. in ms
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int sendSpeed=0; //transmittet speed value over usart
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int LOOPTIME=5; //hoverboard.
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int RATE=30; //hoverboard. rate value, see config.h. default 30
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float FILTER=0.1; //hoverboard. filter value, see config.h default 0.1
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float speedRate=0; //hoverboard.implemented as fixdt. what comes out of rate limiting.
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int outSpeed=0; //hoverboard. speedvalue for pwm. filtered speedRate
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Slider SinputValue;
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Slider SfilteredInputValue;
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Slider SspeedValue;
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Slider SspeedRate;
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Slider SoutSpeed;
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int inputValue = ADC_CALIB_THROTTLE_MIN;
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int maxvalue=1000;
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int timetestMode=0;
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long timeteststarted_time=0;
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int outSpeedThresholdIncrease=int(1000*0.707); //threshold for timing stop for increasing speed
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int outSpeedThresholdDecrease=int(1000*(1-0.707)); //threshold for timing stop for decreasing speed
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long timingtest_start=0; //for timing testing
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long timingtest_end=0; //for timing testing
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void setup() {
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frameRate(int(1000.0/5));
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size(700,400);
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noStroke();
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cp5 = new ControlP5(this);
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// add a horizontal sliders, the value of this slider will be linked
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// to variable 'sliderValue'
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SinputValue=cp5.addSlider("inputValue")
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.setPosition(10,50)
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.setSize(500,30)
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.setRange(ADC_CALIB_THROTTLE_MIN,ADC_CALIB_THROTTLE_MAX)
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;
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SfilteredInputValue=cp5.addSlider("filteredInputValue")
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.setPosition(10,50+30+10)
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.setSize(500,20)
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.setRange(ADC_CALIB_THROTTLE_MIN,ADC_CALIB_THROTTLE_MAX)
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;
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SspeedValue=cp5.addSlider("speedValue") //after brake slowing
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.setPosition(10,50+30+10+20+10)
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.setSize(500,20)
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.setRange(0,1000)
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;
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SspeedRate=cp5.addSlider("speedRate")
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.setPosition(10,50+30+10+20+10+20+10)
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.setSize(500,20)
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.setRange(0,1000)
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;
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SoutSpeed=cp5.addSlider("outSpeed")
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.setPosition(1,50+30+10+20+10+20+10+20+10)
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.setSize(500,30)
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.setRange(0,1000)
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;
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}
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void draw() {
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long loopmillis=millis();
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//Time testing
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switch (timetestMode) {
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case 0: //started
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println("Starting Timing Test 'Increase'. Startvalue="+ADC_CALIB_THROTTLE_MIN);
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SinputValue.setValue(ADC_CALIB_THROTTLE_MIN); //reset values to minimum
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SfilteredInputValue.setValue(ADC_CALIB_THROTTLE_MIN);
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SspeedRate.setValue(0);
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SoutSpeed.setValue(0);
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timetestMode++;
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timeteststarted_time=loopmillis;
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break;
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case 1: //wait some time
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if (loopmillis-timeteststarted_time>1000){
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println("Set input to value="+ADC_CALIB_THROTTLE_MAX);
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timetestMode++;
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SinputValue.setValue(ADC_CALIB_THROTTLE_MAX); //Jump value
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timingtest_start=loopmillis;
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}
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break;
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case 2: //wait until threshold reached
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if (outSpeed>=outSpeedThresholdIncrease){
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println("Threshold "+outSpeed+" (outSpeed) reached");
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timetestMode++;
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timingtest_end=loopmillis;
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println("Increase Time="+(timingtest_end-timingtest_start)+"ms");
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timeteststarted_time=loopmillis;
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}
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break;
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case 3: //wait some time in between test
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if (loopmillis-timeteststarted_time>1000){
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println("Waiting between tests");
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timetestMode++;
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timingtest_start=loopmillis;
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}
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break;
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case 4://started
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println("Starting Timing Test 'Decrease'. Startvalue="+ADC_CALIB_THROTTLE_MAX);
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SinputValue.setValue(ADC_CALIB_THROTTLE_MAX); //reset values to maximum
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SfilteredInputValue.setValue(ADC_CALIB_THROTTLE_MAX);
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SspeedRate.setValue(1000);
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SoutSpeed.setValue(1000);
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timetestMode++;
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break;
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case 5: //wait some time
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if (loopmillis-timeteststarted_time>1000){
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println("Set input to value="+ADC_CALIB_THROTTLE_MIN);
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timetestMode++;
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SinputValue.setValue(ADC_CALIB_THROTTLE_MIN); //Jump value
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timingtest_start=loopmillis;
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}
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break;
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case 6: //wait until threshold reached
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if (outSpeed<=outSpeedThresholdDecrease){
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println("Threshold "+outSpeed+" (outSpeed) reached");
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timetestMode++;
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timingtest_end=loopmillis;
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println("Decrease Time="+(timingtest_end-timingtest_start)+"ms");
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}
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break;
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}
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if (loopmillis-lastReadADC>ADC_READTIME){ //frequency of controller adc read/filtering
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lastReadADC=millis();
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adc_throttle_raw = inputValue; //adc_throttle_raw = analogRead(PIN_THROTTLE);
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adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER; //adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER;
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SfilteredInputValue.setValue(adc_throttle);
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}
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if (loopmillis-lastLoopController>LOOPTIME_CONTROLLER){ //frequency of controller LOOPTIME
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lastLoopController=millis();
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int lastSpeed=speedvalue;
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speedvalue=int(constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000));
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if (speedvalue<=lastSpeed) { //braking
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speedvalue = (lastSpeed-speedvalue)>MAXBRAKERATE ? (lastSpeed-MAXBRAKERATE):speedvalue;
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}
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SspeedValue.setValue(speedvalue);
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}
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if (loopmillis-lastSend>SENDPERIOD){ //Frequency of transmitting new values to the hoverboard
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lastSend=millis();
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sendSpeed=speedvalue;
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}
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if (loopmillis-lastHBLoop>LOOPTIME){ //frequency of hoverboard mainboard (looptime)
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lastHBLoop=millis();
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int cmd=sendSpeed; //commanded value
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//rateLimiter16 function
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float q0; //int16_t q0;
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float q1; //int16_t q1;
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q0 = (cmd-speedRate); //q0 = (u << 4) - *y;
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if (q0 > RATE) { //if (q0 > rate) {
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q0=RATE; // q0 = rate;
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}else{ //} else {
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q1=-RATE; // q1 = -rate;
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if (q0<q1) {// if (q0 < q1) {
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q0=q1;// q0 = q1;
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}// }
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} //}
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speedRate = q0 + speedRate; //*y = q0 + *y;
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SspeedRate.setValue(speedRate);
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outSpeed= int(outSpeed*(1-FILTER) + speedRate*FILTER); //filtLowPass16 function
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SoutSpeed.setValue(outSpeed);
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}
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//Breathing led test
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int _b=int((loopmillis/10)%(255*2));
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fill( _b<255 ? _b : (255*2)-_b );
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rect(0,0,width,10);
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}
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/*
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void slider(float theColor) {
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myColor = color(theColor);
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println("a slider event. setting background to "+theColor);
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}
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*/
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