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update #14

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Merged
merged 4 commits into from
Mar 12, 2024
Merged

update #14

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576021d
increased limits on move_pid and rotate_pid + 0.01 Ki
eigen-value Mar 12, 2024
80c61dd
move and rotate pids Kp to 4.0
eigen-value Mar 12, 2024
bd664bd
Merge pull request #12 from arduino-libraries/control_revamp
gbr1 Mar 12, 2024
92f4d21
Merge pull request #13 from arduino-libraries/devel
gbr1 Mar 12, 2024
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14 changes: 7 additions & 7 deletions src/definitions/robot_definitions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#define WHEEL_DIAMETER_MM 34.0

// Motor Control and mechanical parameters
#define CONTROL_LIMIT 4096 // PWM resolution
#define CONTROL_LIMIT 4095 // PWM resolution

#define MOTOR_LIMIT 70.0 // Mechanical RPM limit speed of used motors
#define MOTOR_CPR 6.0 // Resolution of the encoder
Expand All @@ -41,18 +41,18 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;


// Kinematics control
#define ROTATE_KP_DEFAULT 5.0
#define ROTATE_KI_DEFAULT 0.0
#define ROTATE_KP_DEFAULT 4.0
#define ROTATE_KI_DEFAULT 0.01
#define ROTATE_KD_DEFAULT 0.001
#define ROTATE_CONTROL_PERIOD 0.02
#define ROTATE_MAX_SPEED 45.0
#define ROTATE_MAX_SPEED 170.0
#define ROTATE_THRESHOLD 1

#define MOVE_KP_DEFAULT 5.0
#define MOVE_KI_DEFAULT 0.0
#define MOVE_KP_DEFAULT 4.0
#define MOVE_KI_DEFAULT 0.01
#define MOVE_KD_DEFAULT 0.001
#define MOVE_CONTROL_PERIOD 0.02
#define MOVE_MAX_SPEED 45.0
#define MOVE_MAX_SPEED 130.0
#define MOVE_THRESHOLD 3

#define MOVEMENT_DISABLED 0
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2 changes: 1 addition & 1 deletion src/motor_control/motor_control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
#include "../definitions/robot_definitions.h"
#include "pid_controller.h"

#define CONTROL_LIMIT 4095
//#define CONTROL_LIMIT 4095
#define MEM_SIZE 5
#define CONTROL_MODE_NORMAL 0
#define CONTROL_MODE_LINEAR 1
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