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fix some bugs

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This commit is contained in:
acki
2025-10-03 09:33:51 +02:00
parent 8b4db1c18c
commit 1dbd11bf86
5 changed files with 102 additions and 22 deletions
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10
CMakeLists.txt
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@@ -7,6 +7,16 @@ cmake_minimum_required(VERSION 3.22)
# User is free to modify the file as much as necessary
#
# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
set(CMAKE_AR arm-none-eabi-ar)
set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
set(CMAKE_OBJDUMP arm-none-eabi-objdump)
set(SIZE arm-none-eabi-size)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
# Setup compiler settings
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)

74
CMakeLists_last.txt Normal file
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@@ -0,0 +1,74 @@
cmake_minimum_required(VERSION 3.22)
#
# This file is generated only once,
# and is not re-generated if converter is called multiple times.
#
# User is free to modify the file as much as necessary
#
# Setup compiler settings
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)
# Define the build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug")
endif()
# Set the project name
set(CMAKE_PROJECT_NAME pcb_odo)
# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})
# Enable CMake support for ASM and C languages
enable_language(C ASM CXX)
# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME})
# Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx)
# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined library search paths
)
# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# Add user sources here
Core/Src/CommCallbacks.cpp
Core/Src/commSTM.cpp
Core/Src/modelec.cpp
Core/Src/motors.cpp
Core/Src/pid.cpp
Core/Src/point.cpp
Core/Src/setup.cpp
)
# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths
Core/Inc/
)
# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined symbols
)
# Remove wrong libob.a library dependency when using cpp files
list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
# Add linked libraries
target_link_libraries(${CMAKE_PROJECT_NAME}
stm32cubemx
# Add user defined libraries
)

10
Core/Inc/modelec.h
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@@ -23,8 +23,9 @@
#define WHEEL_BASE 0.287f
#define WHEEL_BASE_2 (WHEEL_BASE/2.0f)
#define PRECISE_ANGLE 0.017f // radians
#define PRECISE_POS_FINAL 0.005f // meters
#define PRECISE_POS_FINAL 0.01f // meters
#define PRECISE_POS 0.1f // meters
#define V_MAX 0.643f // m/s
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim2;
@@ -33,12 +34,15 @@ class DiffBot {
public:
Point pose;
Point targets[MAX_WAYPOINTS];
Point targets[MAX_WAYPOINTS] = {
Point(0, FINAL, 0, 0, 0),
};
uint8_t index = 0;
Motor motor;
float vx, vy, vtheta;
float vx = 0, vy = 0, vtheta = 0;
float dt;

9
Core/Src/CommCallbacks.cpp
View File

@@ -22,12 +22,15 @@ void Comm_GetPos(float& x, float& y, float& theta) {
}
void Comm_SetPos(float x, float y, float theta) {
bot.pose.x = x;
bot.pose.y = y;
bot.pose.x = x / 1000;
bot.pose.y = y / 1000;
bot.pose.theta = theta;
}
void Comm_GetSpeed(float& vx, float& vy, float& omega){
void Comm_GetSpeed(float& vx, float& vy, float& omega) {
vx = bot.vx;
vy = bot.vy;
omega = bot.vtheta;
}
bool Comm_GetPID(char *pid, float &p, float &i, float &d) {

21
Core/Src/modelec.cpp
View File

@@ -4,11 +4,6 @@
#include <algorithm>
#include <cmath>
// #define COUNTS_PER_REV 2400.0f // 600 PPR × 4
// #define WHEEL_DIAMETER 0.081f // meters
// #define WHEEL_BASE 0.287f // meters
// #define WHEEL_CIRCUMFERENCE (M_PI * WHEEL_DIAMETER)
bool DiffBot::isDelayPassedFrom(uint32_t delay, uint32_t &lastTick) {
if (HAL_GetTick() - lastTick >= delay) {
lastTick = HAL_GetTick();
@@ -37,7 +32,7 @@ float DiffBot::readEncoderRight() {
return (2.0f*M_PI*WHEEL_RADIUS*revs); // m
}
DiffBot::DiffBot(Point pose, float dt) : pose(pose), motor(), dt(dt) {
DiffBot::DiffBot(Point pose, float dt) : pose(pose), dt(dt) {
};
void DiffBot::stop(bool stop) {
@@ -48,8 +43,8 @@ void DiffBot::stop(bool stop) {
void DiffBot::setup() {
pidLeft = PID(1, 0.0, 0.0, -PWM_MAX, PWM_MAX);
pidRight = PID(1, 0.0, 0.0, -PWM_MAX, PWM_MAX);
pidPos = PID(1, 0.0, 0.0, -2, 2);
pidTheta = PID(1, 0.0, 0.0, -M_PI, M_PI);
pidPos = PID(1, 0.0, 0.0, -V_MAX, V_MAX);
pidTheta = PID(1, 0.0, 0.0, -2.0f, 2);
prevCountLeft = __HAL_TIM_GET_COUNTER(&htim2);
prevCountRight = __HAL_TIM_GET_COUNTER(&htim3);
@@ -97,10 +92,6 @@ void DiffBot::update(float dt) {
return;
}
if (targets[index].active == false) {
targets[index].active = true;
}
break;
case INTERMEDIAIRE:
@@ -164,10 +155,8 @@ void DiffBot::update(float dt) {
float vLeft = vRef - (WHEEL_BASE_2) * wRef;
float vRight = vRef + (WHEEL_BASE_2) * wRef;
float v_max = 0.643f; // m/s
float pwm_ff_left = (vLeft / v_max) * PWM_MAX;
float pwm_ff_right = (vRight / v_max) * PWM_MAX;
float pwm_ff_left = (vLeft / V_MAX) * PWM_MAX;
float pwm_ff_right = (vRight / V_MAX) * PWM_MAX;
float pwm_corr_left = pidLeft.compute(vLeft, leftVel, dt);
float pwm_corr_right = pidRight.compute(vRight, rightVel, dt);