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Rovers: stop motors when commanding zero speed

This commit is contained in:
Matthias Grob 2023-04-28 17:05:34 +02:00
parent 4ff03e4a06
commit d0d113405a
4 changed files with 26 additions and 0 deletions
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8
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
View File

@ -45,7 +45,15 @@ ActuatorEffectivenessRoverAckermann::getEffectivenessMatrix(Configuration &confi
}
configuration.addActuator(ActuatorType::MOTORS, Vector3f{}, Vector3f{1.f, 0.f, 0.f});
_motors_mask = 1u << 0;
configuration.addActuator(ActuatorType::SERVOS, Vector3f{0.f, 0.f, 1.f}, Vector3f{});
return true;
}
void ActuatorEffectivenessRoverAckermann::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}

5
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
View File

@ -43,6 +43,11 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Rover (Ackermann)"; }
private:
uint32_t _motors_mask{};
};

8
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.cpp
View File

@ -46,6 +46,14 @@ ActuatorEffectivenessRoverDifferential::getEffectivenessMatrix(Configuration &co
configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, 0.5f}, Vector3f{0.5f, 0.f, 0.f});
configuration.addActuator(ActuatorType::MOTORS, Vector3f{0.f, 0.f, -0.5f}, Vector3f{0.5f, 0.f, 0.f});
_motors_mask = (1u << 0) | (1u << 1);
return true;
}
void ActuatorEffectivenessRoverDifferential::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
stopMaskedMotorsWithZeroThrust(_motors_mask, actuator_sp);
}

5
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverDifferential.hpp
View File

@ -43,6 +43,11 @@ public:
bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
const char *name() const override { return "Rover (Differential)"; }
private:
uint32_t _motors_mask{};
};