ardupilot/libraries/AP_WheelEncoder/AP_WheelRateControl.h

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