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Rover: integrate ATC change to balancebot pitch control

This commit is contained in:
Randy Mackay 2022-11-09 16:50:13 +09:00
parent 3d89bd9f14
commit 058d6d4828
1 changed files with 1 additions and 8 deletions
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9
Rover/balance_bot.cpp
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@ -7,15 +7,8 @@ void Rover::balancebot_pitch_control(float &throttle)
// calculate desired pitch angle // calculate desired pitch angle
const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim); const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim);
// calculate speed from wheel encoders
float veh_speed_pct = 0.0f;
if (g2.wheel_encoder.enabled(0) && g2.wheel_encoder.enabled(1) && is_positive(g2.wheel_rate_control.get_rate_max_rads())) {
veh_speed_pct = (g2.wheel_encoder.get_rate(0) + g2.wheel_encoder.get_rate(1)) / (2.0f * g2.wheel_rate_control.get_rate_max_rads()) * 100.0f;
veh_speed_pct = constrain_float(veh_speed_pct, -100.0f, 100.0f);
}
// calculate required throttle using PID controller // calculate required throttle using PID controller
throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, veh_speed_pct, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, G_Dt) * 100.0f; throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, g2.motors.limit.throttle_lower || g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
} }
// returns true if vehicle is a balance bot // returns true if vehicle is a balance bot