67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
#include "ControlledMotor.h"
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namespace RoboidControl {
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ControlledMotor::ControlledMotor() { this->type = Thing::ControlledMotor; }
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ControlledMotor::ControlledMotor(Motor *motor, IncrementalEncoder *encoder)
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: ControlledMotor() {
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this->motor = motor;
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this->encoder = encoder;
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// this->rotationDirection = Direction::Forward;
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}
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//#include <Arduino.h>
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void ControlledMotor::SetTargetSpeed(float speed) {
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this->currentTargetSpeed = speed;
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// this->rotationDirection =
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// (targetSpeed < 0) ? Direction::Reverse : Direction::Forward;
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// this->direction = (targetSpeed < 0) ? Motor::Direction::CounterClockwise
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// : Motor::Direction::Clockwise;
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}
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void ControlledMotor::Update(unsigned long currentTimeMs) {
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this->actualSpeed = encoder->GetRevolutionsPerSecond(currentTimeMs);
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if (this->currentTargetSpeed < 0)
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this->actualSpeed = -this->actualSpeed;
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float deltaTime = currentTimeMs - this->lastUpdateTime;
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float error = this->currentTargetSpeed - this->actualSpeed;
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float errorChange = (error - lastError) * deltaTime;
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float delta = error * pidP + errorChange * pidD;
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// Serial.print(" actual Speed ");
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// Serial.print(actualSpeed);
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// Serial.print(" target Speed ");
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// Serial.print(this->currentTargetSpeed);
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// Serial.print(" motor target speed ");
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// Serial.print(motor->currentTargetSpeed);
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// Serial.print(" + ");
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// Serial.print(error * pidP);
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// Serial.print(" + ");
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// Serial.print(errorChange * pidD);
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// Serial.print(" = ");
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// Serial.println(motor->currentTargetSpeed + delta);
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motor->SetTargetSpeed(motor->currentTargetSpeed +
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delta); // or something like that
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this->lastUpdateTime = currentTimeMs;
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}
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float ControlledMotor::GetActualSpeed() { return actualSpeed; }
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bool ControlledMotor::Drive(float distance) {
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if (!driving) {
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targetDistance = distance;
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startDistance = encoder->GetDistance();
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driving = true;
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}
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float totalDistance = encoder->GetDistance() - startDistance;
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bool completed = totalDistance > targetDistance;
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return completed;
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}
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} |