mirror of
https://github.com/modelec/odo_STM32.git
synced 2026-01-18 16:27:25 +01:00
272 lines
7.2 KiB
C++
272 lines
7.2 KiB
C++
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#include "modelec.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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extern TIM_HandleTypeDef htim3;
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extern TIM_HandleTypeDef htim2;
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//extern TIM_HandleTypeDef htim21;
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//extern UART_HandleTypeDef huart2;
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// Variables globales
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// Constants
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#define COUNTS_PER_REV 2400.0f // 600 PPR × 4
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#define WHEEL_DIAMETER 0.081f // meters
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#define WHEEL_BASE 0.287f // meters
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#define WHEEL_CIRCUMFERENCE (M_PI * WHEEL_DIAMETER)
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// Contrôle des moteurs
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Motor motor(TIM2);
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// Données odométriques
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uint16_t lastPosRight, lastPosLeft;
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// x et y sont en mètres
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float x, y, theta;
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Point currentPoint(0.0, 0.0,0, StatePoint::INTERMEDIAIRE);
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Point targetPoint(0.5,0.0, 0, StatePoint::INTERMEDIAIRE);
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float vitesseLineaire;
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float vitesseAngulaire;
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float vitesseLeft;
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float vitesseRight;
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bool odo_active = 0;
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uint32_t lastTick = 0;
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bool isDelayPassedFrom(uint32_t delay, uint32_t *lastTick) {
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if (HAL_GetTick() - *lastTick >= delay) {
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*lastTick = HAL_GetTick();
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return true;
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}
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return false;
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}
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bool isDelayPassed(uint32_t delay) {
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return isDelayPassedFrom(delay, &lastTick);
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}
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//PID
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void determinationCoefPosition(Point objectifPoint, Point pointActuel, PidPosition& pid, PidVitesse& pidG, PidVitesse& pidD, float vitGauche, float vitDroit, int cnt){
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//PidPosition pid(0,0,0,0,0,0,objectifPoint);
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pid.setConsignePositionFinale(objectifPoint);
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std::array<double, 2> vitesse = pid.updateNouvelOrdreVitesse(pointActuel, vitGauche, vitDroit);
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//std::array<double, 2> vitesse = {0, 0};
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/*char debug_msg[128];
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sprintf(debug_msg, "[CONS] G: %.3f m/s | D: %.3f m/s\r\n", vitesse[0], vitesse[1]);
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CDC_Transmit_FS((uint8_t*)debug_msg, strlen(debug_msg));*/
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pidG.setConsigneVitesseFinale(vitesse[0]);
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pidD.setConsigneVitesseFinale(vitesse[1]);
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pidG.updateNouvelleVitesse(motor.getLeftCurrentSpeed());
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pidD.updateNouvelleVitesse(motor.getRightCurrentSpeed());
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float nouvelOrdreG = pidG.getNouvelleConsigneVitesse();
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float nouvelOrdreD = pidD.getNouvelleConsigneVitesse();
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/*sprintf(debug_msg, "[CORR] G: %.3f m/s | D: %.3f m/s\r\n", nouvelOrdreG, nouvelOrdreD);
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CDC_Transmit_FS((uint8_t*)debug_msg, strlen(debug_msg));*/
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int erreurG = pidG.getPWMCommand(nouvelOrdreG);
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int erreurD = pidD.getPWMCommand(nouvelOrdreD);
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const int MAX_ERREUR_PWM = 50;
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if (erreurG > MAX_ERREUR_PWM)
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erreurG = MAX_ERREUR_PWM;
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else if (erreurG < -MAX_ERREUR_PWM)
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erreurG = -MAX_ERREUR_PWM;
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if (erreurD > MAX_ERREUR_PWM)
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erreurD = MAX_ERREUR_PWM;
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else if (erreurD < -MAX_ERREUR_PWM)
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erreurD = -MAX_ERREUR_PWM;
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int ordrePWMG = motor.getLeftCurrentPWM() + erreurG;
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int ordrePWMD = motor.getRightCurrentPWM() + erreurD;
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motor.setLeftTargetPWM(ordrePWMG);
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motor.setRightTargetPWM(ordrePWMD);
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}
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//Odométrie
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void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD) {
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CDC_Transmit_FS((uint8_t*)"SETUP COMPLETE\n", strlen("SETUP COMPLETE\n"));
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lastPosRight = __HAL_TIM_GET_COUNTER(&htim2);
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lastPosLeft = __HAL_TIM_GET_COUNTER(&htim3);
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x = 0.0f;
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y = 0.0f;
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theta = 0.0f;
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//motor.accelerer(300);
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*out_pid = new PidPosition(
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0.8, // kp — un poil plus agressif, il pousse plus vers la cible
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0.0, // ki — toujours off pour éviter du dépassement imprévu
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0.015, // kd — un peu moins de freinage anticipé
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0.5, // kpTheta — peut rester soft pour éviter les oscillations d’orientation
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0.0, // kiTheta
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0.15, // kdTheta — un peu moins de frein sur la rotation
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Point()
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);
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//*out_pid = new PidPosition(1.2,0.02,0.8,0, 0, 0, Point());
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*out_pidG = new PidVitesse(0.2, 0.0, 0.01, 0);
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*out_pidD = new PidVitesse(0.2, 0.0, 0.01, 0);
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return;
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}
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void stopMotorsStep() {
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const uint16_t step = 200;
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// TIM8
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if (TIM8->CCR1 > 0) {
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TIM8->CCR2 = 0; // sécurité : un seul sens actif
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TIM8->CCR1 = (TIM8->CCR1 > step) ? TIM8->CCR1 - step : 0;
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} else if (TIM8->CCR2 > 0) {
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TIM8->CCR1 = 0;
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TIM8->CCR2 = (TIM8->CCR2 > step) ? TIM8->CCR2 - step : 0;
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}
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// TIM1
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if (TIM1->CCR1 > 0) {
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TIM1->CCR2 = 0;
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TIM1->CCR1 = (TIM1->CCR1 > step) ? TIM1->CCR1 - step : 0;
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} else if (TIM1->CCR2 > 0) {
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TIM1->CCR1 = 0;
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TIM1->CCR2 = (TIM1->CCR2 > step) ? TIM1->CCR2 - step : 0;
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}
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}
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void ModelecOdometryUpdate() {
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//On récupère la valeur des compteurs
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uint16_t posRight = __HAL_TIM_GET_COUNTER(&htim2);
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uint16_t posLeft = __HAL_TIM_GET_COUNTER(&htim3);
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//On calcule les deltas
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int16_t deltaLeft = (int16_t) (posLeft - lastPosLeft);
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int16_t deltaRight = (int16_t) (posRight - lastPosRight);
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//On met à jour la dernière position
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lastPosLeft = posLeft;
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lastPosRight = posRight;
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//On convertit en distance (mètres)
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float distLeft = (deltaLeft / COUNTS_PER_REV) * WHEEL_CIRCUMFERENCE;
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float distRight = (deltaRight / COUNTS_PER_REV) * WHEEL_CIRCUMFERENCE;
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//On calcule les déplacements
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float linear = (distLeft + distRight) / 2.0f;
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float deltaTheta = (distRight - distLeft) / WHEEL_BASE;
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//On met à jour la position
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float avgTheta = theta + deltaTheta / 2.0f;
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x += linear * cosf(avgTheta);
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y += linear * sinf(avgTheta);
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theta += deltaTheta;
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//On normalise theta
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theta = fmodf(theta, 2.0f * M_PI);
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if (theta < 0)
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theta += 2.0f * M_PI;
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//char msg[128];
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//sprintf(msg, " Update current position : X: %.3f m, Y: %.3f m, Theta: %.3f rad\r\n", x, y, theta);
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//CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
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float dt = 0.01f; // 10 ms
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// Calcul des vitesses des roues
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vitesseLeft = distLeft / dt;
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vitesseRight = distRight / dt;
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// Vitesse linéaire et angulaire du robot
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vitesseLineaire = (vitesseLeft + vitesseRight) / 2.0f;
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vitesseAngulaire = (vitesseRight - vitesseLeft) / WHEEL_BASE;
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// Affichage pour debug
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//sprintf(msg, "Vitesse G: %.3f m/s | D: %.3f m/s | Lin: %.3f m/s | Ang: %.3f rad/s\r\n",
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// vitesseLeft, vitesseRight, vitesseLineaire, vitesseAngulaire);
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//CDC_Transmit_FS((uint8_t*) msg, strlen(msg));
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//motor.setLeftCurrentSpeed(vitesseLeft);
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//motor.setRightCurrentSpeed(vitesseRight);
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motor.setLeftCurrentSpeed(vitesseLeft);
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motor.setRightCurrentSpeed(vitesseRight);
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}
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void publishStatus(){
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}
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void receiveControlParams(){
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}
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void ModelecOdometryLoop(void* pid, void* pidG, void* pidD, int* cnt) {
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PidPosition* pidPosition = static_cast<PidPosition*>(pid);
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PidVitesse* pidVitesseG = static_cast<PidVitesse*>(pidG);
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PidVitesse* pidVitesseD = static_cast<PidVitesse*>(pidD);
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USB_Comm_Process();
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//receiveControlParams();
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//GPIOC->ODR ^= (1 << 10);
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//On met à jour toutes les 10ms
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if (isDelayPassed(10)) {
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ModelecOdometryUpdate();
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USB_Comm_Process();
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//HAL_Delay(1000);
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currentPoint.setX(x);
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currentPoint.setY(y);
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currentPoint.setTheta(theta);
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//Point currentPoint(x, y,theta, StatePoint::INTERMEDIAIRE);
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if(odo_active == 1){
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//char debugMsg[128];
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//sprintf(debugMsg, "Speed avant determination : L=%.3f | R=%.3f\r\n",
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//motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed());
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//CDC_Transmit_FS((uint8_t*)debugMsg, strlen(debugMsg));
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determinationCoefPosition(targetPoint, currentPoint, *pidPosition, *pidVitesseG, *pidVitesseD, motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed(), *cnt);
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//HAL_Delay(1000);
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motor.update();
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}else{
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stopMotorsStep();
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}
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//(*cnt)++;
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}
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publishStatus();
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}
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#ifdef __cplusplus
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} //extern C end
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#endif
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