modelec/odo_STM32
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fix a lot

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This commit is contained in:
acki
2026-03-17 17:56:11 +01:00
parent fdcd541ae8
commit 60717cd99f
3 changed files with 7 additions and 7 deletions
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3
Core/Inc/modelec.h
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@@ -17,6 +17,7 @@
#define PWM_MAX 640.0f
#define V_MAX 0.643f // m/s
#define A_MAX 10.0f // m/s^2 huge value cause idk what to put there
#define MAX_WAYPOINTS 16
#define ENCODER_RES 2400.0f
@@ -69,7 +70,7 @@ public:
float precisePos = 0.15f;
float currentV = 0;
const float maxAccel = 0.5f;
const float maxAccel = A_MAX;
static bool isDelayPassedFrom(uint32_t delay, uint32_t& lastTick);

9
Core/Src/modelec.cpp
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@@ -60,10 +60,10 @@ void DiffBot::stop(bool stop)
void DiffBot::setup()
{
pidLeft = PID(4.5f, 2.0f, 2.0f, -PWM_MAX, PWM_MAX);
pidRight = PID(4.5f, 2.0f, 2.0f, -PWM_MAX, PWM_MAX);
pidPos = PID(3.0f, 0.0f, 0.0f, -V_MAX, V_MAX);
pidTheta = PID(13.0f, 0.0f, 0.0f, -M_PI, M_PI);
pidLeft = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidRight = PID(5.0f, 0.0f, 0.0f, -PWM_MAX, PWM_MAX);
pidPos = PID(3.5f, 0.0f, 0.0f, -V_MAX, V_MAX);
pidTheta = PID(11.0f, 0.0f, 0.0f, -M_PI, M_PI);
prevCountLeft = __HAL_TIM_GET_COUNTER(&htim2);
prevCountRight = __HAL_TIM_GET_COUNTER(&htim3);
@@ -182,7 +182,6 @@ void DiffBot::update(float dt_actual)
}
wRef = pidTheta.compute(0, -angleError, dt);
float alignScale = std::max(0.0f, cosf(angleError));
float targetV = pidPos.compute(0, -dist * direction, dt) * alignScale;

2
Core/Src/motors.cpp
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@@ -14,7 +14,7 @@ float approach(float current, float target, float step) {
void Motor::update() {
int16_t max_step = 10;
int16_t max_step = 20;
leftTarget_PWM = std::max(-PWM_MAX, std::min((float)leftTarget_PWM, PWM_MAX));
rightTarget_PWM = std::max(-PWM_MAX, std::min((float)rightTarget_PWM, PWM_MAX));