AMiRo-OS

#ifndef AMIRO_MOTOR_CONTROL_H_

#define AMIRO_MOTOR_CONTROL_H_

#include <amiro/MotorIncrements.h>

#include <amiro/Constants.h>

#include <Types.h>

#include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp>

namespace amiro {

  class MotorControl : public chibios_rt::BaseStaticThread<512> {

  public:

    /**

     * Constructor

     *

     * @param pwm pulse width modulation driver (pwmd)

     *            Can be any free PWMDx in 'ChibiOS-RT/os/hal/platforms/STM32/TIMv1/pwm_lld.h'

     * @param mi object for retrieving the motor increments of the qei

     * @param port GPIO port for motor control (should be the macro 'GPIOB')

     * @param pad GPIO command for motor control (should be the macro 'GPIOB_POWER_EN' for enable)

     * @param memory Memory interface to load/store parameters

     */

    MotorControl(PWMDriver* pwm, MotorIncrements* mi, GPIO_TypeDef* port, int pad, fileSystemIo::FSIODiWheelDrive *memory);

    /**

     * Get the current speed of the left wheel in rounds/min

     *

     * @return speed of left wheel in rounds/min

     */

    int getCurrentRPMLeft();

    /**

     * Get the current speed of the right wheel in rounds/min

     *

     * @return speed of right wheel in rounds/min

     */

    int getCurrentRPMRight();

    chibios_rt::EvtSource* getEventSource();

    /**

     * Sets the target velocity

     *

     * @param targetVelocity Kartesian kinematic vector

     */

    void setTargetSpeed(const types::kinematic &targetVelocity);

    /**

     * Sets the target velocity in µ rounds per minute for every wheel

     *

     * @param targetURpmLeft Rounds per minute in µ1/min of the left wheel

     * @param targetURpmLeft Rounds per minute in µ1/min of the right wheel

     */

    void setTargetRPM(int32_t targetURpmLeft, int32_t targetURpmRight);

    /**

     * Get the current velocitiy as a kinematic struct

     *

     * @return Current velocity

     */

    types::kinematic getCurrentVelocity();

    /**

     * Sets the correction factor for the wheel diameter.

     * The factor Ed is the ratio of the wheel diameters

     * <Ed = wheelDiameterRight / wheelDiameterLeft> as

     * introduced in eq. 3 by J. Borenstein (Correction of

     * Systematic Odometry Errors in Mobile Robots). This

     * function calculates then the correction factors for every

     * wheel by eq. 17a and 17b.

     *

     * @param Ed Wheel diameter ratio

     * @param storeEbToMemory Do override Ed in the memory with the given value

     * @return Return value of the memory interface

     */

    msg_t setWheelDiameterCorrectionFactor(float Ed = 1.0f, bool_t storeEdToMemory = false);

    /**

     * Sets the correction factor for the wheel base width.

     * The factor Eb is the ratio of the actual and nominal

     * base width <Eb = bActual / bNominal> as introduced

     * in eq. 3 by J. Borenstein (Correction of

     * Systematic Odometry Errors in Mobile Robots). This

     * function calculates then the actual base width of the

     * robot using eq. 4.

     *

     * @param Eb Base width ratio

     * @param storeEbToMemory Do override Eb in the memory with the given value

     * @return Return value of the memory interface

     */

    msg_t setActualWheelBaseDistance(float Eb = 1.0f, bool_t storeEbToMemory = false);

    /**

     * Calculate the current increments of both wheels and

     * update oldIncrement and incrementsDifference,

     * which is the corrected difference between the current increments

     * and the old ones.

     * The corrected difference is the original difference between the old

     * increments and new increments, multiplied with the wheelDiameterCorrectionFactor.

     * The incremennt source is given by motorIncrements.

     *

     * @param motorIncrements Increment source

     * @param oldIncrement Old increments, which are updated

     * @param incrementDifference Corrected difference between old and current increments

     * @return Return value of the memory interface

     */

    static void updateIncrements(MotorIncrements* motorIncrements, int32_t (&oldIncrement)[2], float (&incrementDifference)[2]);

    /**

     * Calculate the current speed of both wheels and

     * updates actualSpeed.

     *

     * @param incrementDifference Difference between old and current increments

     * @param actualSpeed Actual speed of both wheels

     * @param Update period

     */

    static void updateSpeed(const float (&incrementDifference)[2], int32_t (&actualSpeed)[2], const uint32_t period);

    /**

     * Calculate the current driven distance of both wheels and

     * updates actualDistance.

     *

     * @param incrementDifference Difference between old and current increments

     * @param actualDistance Actual distance driven

     */

    static void updateDistance(const float (&incrementDifference)[2], float (&actualDistance)[2]);

    /**

     * Prints Control Gains

     */

    void printGains();

  protected:

    virtual msg_t main(void);

  private:

    /**

     * Calculate the velocitiy in the robot frame

     * and saves it to this->currentVelocity

     */

    void calcVelocity();

    /**

     * PID Controller that works directly on the forward velocity v of the robots center and its

     * angular velocity w around its z axis. The methods setLeftWheelSpeed() and setRightWheelSpeed()

     * are used to set the final pwm values.

     */

    void PIDController();

    /**

     * Deletes the oldest entry in lastVelocitiesV[] and lastVelocitiesW[], pushes the other values up and saves the currentVelocity.x(w_z) in the last entry.

     */

    void updateDerivativeLastVelocities();

    ////////////////////////////////////////////////

    /////////////////Calibration////////////////////

    ////////////////////////////////////////////////

    /**

     * Finds a prefactor for the stronger motor to match its power level to the weaker motor.

     */

    void calibrate();

    /**

     * Finds the P, I and D gains for the PID Controller using the Nichols-Ziegler Method.

     */

    void calibrateZiegler();

    /**

     * Counts the number of sign changes from the last 30 velocities.

     */

    int getNumberofSignChanges();

    /**

     * Update the past lastVelocitiesV array.

     */

    void updatePastVelocities();

    /**

     * Sets wheel speed according to the output of the PID Controller

     */

    void setLeftWheelSpeed(int diffv, int diffw);

    /**

     * Sets wheel speed according to the output of the PID Controller

     */

    void setRightWheelSpeed(int diffv, int diffw);

    int getLeftWheelSpeed();

    int getRightWheelSpeed();

    /**

     * Write the duty cicle from this->pwmPercentage

     * to the PWM driver

     */

    void writePulseWidthModulation();

    /**

     * Control logic to save space in main loop

     */

    void controllerAndCalibrationLogic();

    PWMDriver* pwmDriver;

    PWMConfig pwmConfig;

    MotorIncrements* motorIncrements;

    GPIO_TypeDef *powerEnablePort;

    const int powerEnablePad;

    chibios_rt::EvtSource eventSource;

    //const uint32_t period;

    uint32_t period;

    fileSystemIo::FSIODiWheelDrive *memory;

    int32_t actualSpeed[2];

    float actualDistance[2];

    float errorSum[2];

    int32_t increment[2];

    float incrementDifference[2];

    int pwmPercentage[2];

    types::kinematic targetVelocity;

    types::kinematic currentVelocity;

    types::kinematic lastVelocity;

    float errorSumDiff;

    bool newTargetVelocities;

    int delay = 0;

    float Ed;

    float Eb;

    int pGain = 1000;

    float iGain = 0.08;

    int antiWindupV = 7100000;

    int antiWindupW = 200000000;

    int accumulatedErrorV =0; // accumulated velocity error

    int accumulatedErrorW =0; // accumulated omega error

    float dGain =0.01;

    int lastVelocitiesV[6];

    int lastVelocitiesW[6];

    //motor calibration variables

    int numberOfLastVelocitiesV = 30;

    int lastVelocitiesVBig[30];

    int rightWValues[3];

    int leftWValues[3];

    float motorCalibrationFactor =1.0;

    //ziegler calibration variables

    int zieglerHelp= 1;

    int zieglerHelp2 = 0;

    bool ziegler= true;

    bool ziegler2 = true;

    float zieglerPeriod;

    int zieglerCalibrationTime = 0;

    int wheelCalibrationTime = 0;

    bool startedZieglerCalibration = false;

    bool startedWheelCalibration = false;

    bool motorCalibration = true;

  public:

    bool isCalibrating = false;

    static float wheelDiameterCorrectionFactor[2];

    static float actualWheelBaseDistanceSI;

  };

}

#endif /* AMIRO_MOTOR_CONTROL_H_ */