Tracking gegen den Uhrzeigersinn
- Ersteller SefanH
- Erstellt am
thorsten-ac
Active member
Hi,
Hab da glaube ich Mal was gesehen ... In der Software.
Such Mal unter clockwise im Code...
Kannst aber auch einfach die Codierung umdrehen ....
VG
Thorsten
Hab da glaube ich Mal was gesehen ... In der Software.
Such Mal unter clockwise im Code...
Kannst aber auch einfach die Codierung umdrehen ....
VG
Thorsten
SefanH
Active member
Unter Clockwise habe ich nichts gefunden...
In der robot.cpp habe ich ab Zeile 542 was gefunden und geändert... Werde ich mal bei gelegenheit testen.
In der robot.cpp habe ich ab Zeile 542 was gefunden und geändert... Werde ich mal bei gelegenheit testen.
C:
// check perimeter while finding it
void Robot::checkPerimeterFind(){
if (!perimeterUse) return;
if (stateCurr == STATE_PERI_FIND){
if (perimeterInside) {
// inside
if (motorLeftSpeedRpmSet != motorRightSpeedRpmSet){
// we just made an 'outside=>inside' rotation, now track
setNextState(STATE_PERI_TRACK, 0);
}
} else {
// // we are outside, now roll to get inside
// motorRightSpeedRpmSet = -motorSpeedMaxRpm / 1.5;
// motorLeftSpeedRpmSet = motorSpeedMaxRpm / 1.5;
// Tracking gegen den Uhrzeigersinn - Meine Option
motorRightSpeedRpmSet = motorSpeedMaxRpm / 1.5;
motorLeftSpeedRpmSet = -motorSpeedMaxRpm / 1.5;
}
}
}
Fürst Ruprecht
Well-known member
das ist etwas aufwendiger. Dazu müssen alle perimeterInside überprüft werden und die Drehrichtungen ggf. angepaßt werden. Auch im motorregler müssen die Vorzeichen angepaßt werden.
Gruß Fürst Ruprecht
Gruß Fürst Ruprecht
thorsten-ac
Active member
hi,
in der perimeter.cpp musst du dann noch den
#if defined (SIGCODE_1)
int8_t sigcode[] = { 1, 1,-1,-1, 1,-1, 1,-1,-1,1, -1, 1, 1,-1,-1, 1,-1,-1, 1,-1,-1, 1, 1,-1 };
umdrehen
vg
Thorsten
in der perimeter.cpp musst du dann noch den
#if defined (SIGCODE_1)
int8_t sigcode[] = { 1, 1,-1,-1, 1,-1, 1,-1,-1,1, -1, 1, 1,-1,-1, 1,-1,-1, 1,-1,-1, 1, 1,-1 };
umdrehen
vg
Thorsten
Sorry for english.
It's not AZURIT but it's based on it:
You can find into the robomowgy87 branch code for tracking clockwise or counterclockwise (CW or CCW)
Simply search everywhere in the code the var "track_ClockWise" and adjust the AZURIT code
AzuritBer/ardumower at robomowgy87 · Boilevin/AzuritBer
Ardumower full odometry version. Contribute to Boilevin/AzuritBer development by creating an account on GitHub.
github.com
SefanH
Active member
In der motor.h habe ich noch folgendes geändert:
Änderungen habe ich mit //SEFAN: Tracking counterclockwise kommentiert.
(noch ungetestet - es regnet in Strömen...)
C:
//PID controller: track perimeter
void Robot::motorControlPerimeter() {
//3 states
//wire is lost
//On the wire staright line pid fast action
//Back slowly to the wire pid soft action
//Control the perimeter motor only each 30ms
if (millis() < nextTimeMotorPerimeterControl) return;
nextTimeMotorPerimeterControl = millis() + 30; //possible 15ms with the DUE
//PerimeterMagMaxValue=2000; //need to change in the future
//tell to the pid where is the mower (Pid.x)
perimeterPID.x = 5 * (double(perimeterMag) / perimeterMagMaxValue);
//tell to the Pid where to go (Pid.w)
if (perimeterInside) {
//perimeterPID.w = -0.5;
perimeterPID.w = 0.5; //SEFAN: Tracking counterclockwise
}
else {
//perimeterPID.w = 0.5;
perimeterPID.w = -0.5; //SEFAN: Tracking counterclockwise
}
// parameter the PID
perimeterPID.y_min = -MaxSpeedperiPwm ;
perimeterPID.y_max = MaxSpeedperiPwm ;
perimeterPID.max_output = MaxSpeedperiPwm ;
// and compute
perimeterPID.compute();
// First state wire is lost
// important to understand TrackingPerimeterTransitionTimeOut It's if during this maximum duration the robot does not make a transition in and out
// then it is supposed to have lost the wire, the PID is stopped to go into blocking mode of one of the two wheels.
// If the trackingPerimeterTransitionTimeOut is too large the robot goes too far out of the wire and goes round in a circle outside the wire without finding it
// If the second condition is true the robot has lost the wire since more trackingPerimeterTransitionTimeOut (2500ms)
// for example it is then necessary to stop one of the 2 wheels to make a half turn and find again the wire
if ((millis() > stateStartTime + 10000) && (millis() > perimeterLastTransitionTime + trackingPerimeterTransitionTimeOut)) {
//If this condition is true one of the 2 wheels makes backward the other continues with the result of the PID (not advised)
if (trackingBlockInnerWheelWhilePerimeterStruggling == 0) { //
if (perimeterInside) {
// rightSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 + perimeterPID.y));
// leftSpeedperi = -MaxSpeedperiPwm / 2;
leftSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 + perimeterPID.y)); //SEFAN: Tracking counterclockwise
rightSpeedperi = -MaxSpeedperiPwm / 2; //SEFAN: Tracking counterclockwise
}
else {
// rightSpeedperi = -MaxSpeedperiPwm / 2;
// leftSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 - perimeterPID.y));
leftSpeedperi = -MaxSpeedperiPwm / 2; //SEFAN: Tracking counterclockwise
rightSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 - perimeterPID.y)); //SEFAN: Tracking counterclockwise
}
}
//If this condition is true one of the 2 wheels stop rotate the other continues with the result of the PID (advised)
if (trackingBlockInnerWheelWhilePerimeterStruggling == 1) {
if (perimeterInside) {
// rightSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 + perimeterPID.y));
// leftSpeedperi = 0;
leftSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 + perimeterPID.y)); //SEFAN: Tracking counterclockwise
rightSpeedperi = 0; //SEFAN: Tracking counterclockwise
}
else {
// rightSpeedperi = 0;
// leftSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 - perimeterPID.y));
leftSpeedperi = 0; //SEFAN: Tracking counterclockwise
rightSpeedperi = max(-MaxSpeedperiPwm, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 2 - perimeterPID.y)); //SEFAN: Tracking counterclockwise
}
}
//send to motor
setMotorPWM( leftSpeedperi, rightSpeedperi, false);
// we record The time at which the last wire loss occurred
lastTimeForgetWire = millis();
// if we have lost the wire from too long time (the robot is running in a circle outside the wire we stop everything)
if (millis() > perimeterLastTransitionTime + trackingErrorTimeOut) {
Console.println(F("Error: tracking error"));
addErrorCounter(ERR_TRACKING);
//setNextState(STATE_ERROR,0);
setNextState(STATE_PERI_FIND, 0);
}
// out of the fonction until the next loop
return;
}
// here we have just found again the wire we need a slow return to let the pid temp react by decreasing its action (perimeterPID.y / PeriCoeffAccel)
if ((millis() - lastTimeForgetWire ) < trackingPerimeterTransitionTimeOut) {
//PeriCoeffAccel move gently from 3 to 1 and so perimeterPID.y/PeriCoeffAccel increase during 3 secondes
PeriCoeffAccel = (3000.00 - (millis() - lastTimeForgetWire))/1000.00 ;
if (PeriCoeffAccel < 1.00) PeriCoeffAccel = 1.00;
// rightSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 1.5 + perimeterPID.y / PeriCoeffAccel));
// leftSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 1.5 - perimeterPID.y / PeriCoeffAccel));
leftSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 1.5 + perimeterPID.y / PeriCoeffAccel)); //SEFAN: Tracking counterclockwise
rightSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm / 1.5 - perimeterPID.y / PeriCoeffAccel)); //SEFAN: Tracking counterclockwise
}
else
//we are in straight line the pid is total and not/2
{
// rightSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm/1.5 + perimeterPID.y));
// leftSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm/1.5 - perimeterPID.y));
leftSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm/1.5 + perimeterPID.y)); //SEFAN: Tracking counterclockwise
rightSpeedperi = max(0, min(MaxSpeedperiPwm, MaxSpeedperiPwm/1.5 - perimeterPID.y)); //SEFAN: Tracking counterclockwise
}
setMotorPWM( leftSpeedperi, rightSpeedperi, false);
//if the mower move in perfect straight line the transition between in and out is longuer so you need to reset the perimeterLastTransitionTime
if (abs(perimeterMag ) < perimeterMagMaxValue/4) {
perimeterLastTransitionTime = millis(); //initialise perimeterLastTransitionTime in perfect sthraith line
}
}
Zuletzt bearbeitet:
SefanH
Active member
Bist du dir da sicher?
Für meinen kleinen geistigen Horizont ergibt das keinen Sinn...
Fürst Ruprecht
Well-known member
Thorsten,
das verstehe ich auch nicht.
Zumindest lief es bei mir ohne diese Anpassung.
Gruß Fürst Ruprecht
das verstehe ich auch nicht.
Zumindest lief es bei mir ohne diese Anpassung.
Gruß Fürst Ruprecht
thorsten-ac
Active member
Hi, OK dann hab ich falsch gedacht 