mirror of https://github.com/ArduPilot/ardupilot
74 lines
3.1 KiB
C
74 lines
3.1 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AC_PID/AC_PID.h>
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#include <AP_WheelEncoder/AP_WheelEncoder.h>
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// wheel rate control defaults
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#define AP_WHEEL_RATE_MAX_DEFAULT 12.0f // maximum wheel rotation rate in rad/sec (about 115rpm, 687deg/sec)
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#define AP_WHEEL_RATE_CONTROL_FF 8.00f
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#define AP_WHEEL_RATE_CONTROL_P 2.00f
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#define AP_WHEEL_RATE_CONTROL_I 2.00f
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#define AP_WHEEL_RATE_CONTROL_IMAX 1.00f
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#define AP_WHEEL_RATE_CONTROL_D 0.01f
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#define AP_WHEEL_RATE_CONTROL_FILT 0.00f
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#define AP_WHEEL_RATE_CONTROL_DT 0.02f
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#define AP_WHEEL_RATE_CONTROL_TIMEOUT_MS 200
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class AP_WheelRateControl {
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public:
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AP_WheelRateControl(const AP_WheelEncoder &wheel_encoder_ref);
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// returns true if a wheel encoder and rate control PID are available for this instance
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bool enabled(uint8_t instance);
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// get throttle output in the range -100 to +100 given a desired rate expressed as a percentage of the rate_max (-100 to +100)
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// instance can be 0 or 1
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float get_rate_controlled_throttle(uint8_t instance, float desired_rate_pct, float dt);
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// get rate maximum in radians/sec
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float get_rate_max_rads() const { return MAX(_rate_max, 0.0f); }
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// get pid objects for reporting
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AC_PID& get_pid(uint8_t instance);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _rate_max; // wheel maximum rotation rate in rad/s
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AC_PID _rate_pid0 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT, AP_WHEEL_RATE_CONTROL_FF);
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AC_PID _rate_pid1 = AC_PID(AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT, AP_WHEEL_RATE_CONTROL_FF);
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// limit flags
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struct AP_MotorsUGV_limit {
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bool lower; // reached this instance's lower limit on last iteration
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bool upper; // reached this instance's upper limit on last iteration
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} _limit[2];
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// internal variables
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const AP_WheelEncoder& _wheel_encoder; // pointer to accompanying wheel encoder
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uint32_t _last_update_ms; // system time of last call to get_rate_controlled_throttle
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};
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