New pid #11
Draft
New pid #11
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…xtern is in usage
jprokopczuk
reviewed
Feb 19, 2023
Modules/motors/motor_interface.c
Outdated
Comment on lines
63
to
90
| if(params[i].id == LR || params[i].id == RR){ | ||
| old_duty = hPwm.Instance->CCR1; | ||
| if(750+*(float*)PID_map[i].ptr > PWM_MAX_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL1, PWM_MAX_DUTY); | ||
| else if(750+*(float*)PID_map[i].ptr < PWM_MIN_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL1, PWM_MIN_DUTY); | ||
| else | ||
| PWM_SetDutyCycle(CHANNEL1, 750+*(float*)PID_map[i].ptr); | ||
| } | ||
| if(params[i].id == LM || params[i].id == RM){ | ||
| old_duty = hPwm.Instance->CCR2; | ||
| if(750+*(float*)PID_map[i].ptr > PWM_MAX_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL2, PWM_MAX_DUTY); | ||
| else if(750+*(float*)PID_map[i].ptr < PWM_MIN_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL2, PWM_MIN_DUTY); | ||
| else | ||
| PWM_SetDutyCycle(CHANNEL2, 750+*(float*)PID_map[i].ptr); | ||
| } | ||
| if(params[i].id == LF || params[i].id == RF){ | ||
| old_duty = hPwm.Instance->CCR3; | ||
| if(750+*(float*)PID_map[i].ptr > PWM_MAX_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL3, PWM_MAX_DUTY); | ||
| else if(750+*(float*)PID_map[i].ptr < PWM_MIN_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL3, PWM_MIN_DUTY); | ||
| else | ||
| PWM_SetDutyCycle(CHANNEL3, 750+*(float*)PID_map[i].ptr); | ||
| } | ||
| } |
There was a problem hiding this comment.
To można zamknąć pod jednym ifem. Dla wszystkich trzech silników ustawiamy ten sam PWM. To co musimy osiągnąć to to samo wypełnienie na trzech wyjściach.
jprokopczuk
reviewed
Feb 19, 2023
Comment on lines
+46
to
+52
| struct Map encoders_map[3] = { { .key = 0, .ptr = &g_encoder1Tick }, { | ||
| .key = 1, .ptr = &g_encoder2Tick }, { .key = 2, .ptr = | ||
| &g_encoder3Tick } }; | ||
| if (params == NULL || array_length == 0) { | ||
| return false; | ||
| } | ||
| int i = 0; |
There was a problem hiding this comment.
Formatowanie poszło w las.
jprokopczuk
reviewed
Feb 19, 2023
| return false; | ||
| } | ||
| int i = 0; | ||
| for (i = 0; i < array_length; i += 1) { |
There was a problem hiding this comment.
Po co inicjalizacja i poza pętlą jak tutaj ją zerujesz?
There was a problem hiding this comment.
Suggested change
| for (i = 0; i < array_length; i += 1) { | |
| for (i = 0; i < array_length; i ++) { |
jprokopczuk
reviewed
Feb 19, 2023
Modules/motors/motor_interface.c
Outdated
Comment on lines
60
to
65
| // setting PWM duty to concrete channel; | ||
| for (uint8_t i=0; i<3; i++) | ||
| { | ||
| if(params[i].id == LR || params[i].id == RR){ | ||
| old_duty = hPwm.Instance->CCR1; | ||
| if(750+*(float*)PID_map[i].ptr > PWM_MAX_DUTY) |
jprokopczuk
reviewed
Feb 19, 2023
| } | ||
| if(params[i].id == LM || params[i].id == RM){ | ||
| old_duty = hPwm.Instance->CCR2; | ||
| if(750+*(float*)PID_map[i].ptr > PWM_MAX_DUTY) |
There was a problem hiding this comment.
magic numbers, co to 750?
jprokopczuk
reviewed
Feb 19, 2023
Modules/motors/motor_interface.c
Outdated
| PWM_SetDutyCycle(CHANNEL1, 750+*(float*)PID_map[i].ptr); | ||
| } | ||
| if(params[i].id == LM || params[i].id == RM){ | ||
| old_duty = hPwm.Instance->CCR2; |
There was a problem hiding this comment.
Nie da się tego zrobić bez grzebania w rejestrach? HAL nie udostępnia API, które to umożliwia?
jprokopczuk
reviewed
Feb 19, 2023
| else if(750+*(float*)PID_map[i].ptr < PWM_MIN_DUTY) | ||
| PWM_SetDutyCycle(CHANNEL3, PWM_MIN_DUTY); | ||
| else | ||
| PWM_SetDutyCycle(CHANNEL3, 750+*(float*)PID_map[i].ptr); |
There was a problem hiding this comment.
Obstawiam, że da się zrobić coś takiego jak:
PWM_SetDutyCycle(CHANNEL1 | CHANNEL2 | CHANNEL3, 750+*(float*)PID_map[i].ptr);
jprokopczuk
reviewed
Feb 19, 2023
| // RM - right middle | ||
| // RR - right rear | ||
| typedef enum { | ||
| LF, LM, LR, RF, RM, RR |
There was a problem hiding this comment.
Wystarczy L i R. Nie ma potrzeby sterować oddzielnie każdym silnikiem.
jprokopczuk
reviewed
Feb 19, 2023
| // @param params array of singleMotorParam structures for 3 motors from one side of the rover | ||
| // @param array_length length of params array (is anticipated to be always 3 - 3 motors connected to one board) | ||
| // @returns true if iteration succeeded, false otherwise | ||
| bool setOneSideSpeeds(struct singleMotorParam *params, int array_length); |
There was a problem hiding this comment.
Jeśli już to:
Suggested change
| bool setOneSideSpeeds(struct singleMotorParam *params, int array_length); | |
| bool MotorInterface_setOneSideSpeeds(struct singleMotorParam *params, int array_length); |
jprokopczuk
reviewed
Feb 19, 2023
| #include "pwm.h" | ||
| #include "timers.h" | ||
|
|
||
| TIM_HandleTypeDef hPwm; |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
working pid