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https://github.com/rene-dev/stmbl.git
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95 lines
2.1 KiB
C
95 lines
2.1 KiB
C
#include "commands.h"
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#include "hal.h"
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#include "math.h"
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#include "defines.h"
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#include "angle.h"
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HAL_COMP(vel);
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HAL_PIN(pos_in);
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HAL_PIN(pos_out);
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HAL_PIN(vel);
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HAL_PIN(acc);
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HAL_PIN(w);
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HAL_PIN(d);
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HAL_PIN(g);
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HAL_PIN(h);
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HAL_PIN(j);
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HAL_PIN(lp);
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HAL_PIN(torque);
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HAL_PIN(vel_ff);
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HAL_PIN(en);
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HAL_PIN(pos_error);
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struct vel_ctx_t {
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float last_acc;
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float acc_sum;
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float vel_sum;
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};
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static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct vel_ctx_t * ctx = (struct vel_ctx_t *)ctx_ptr;
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struct vel_pin_ctx_t *pins = (struct vel_pin_ctx_t *)pin_ptr;
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PIN(w) = 1000.0;
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PIN(d) = 0.9;
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PIN(g) = 1.0;
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PIN(h) = 1.0;
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PIN(j) = 0.00001;
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PIN(lp) = 50.0;
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PIN(en) = 1.0;
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}
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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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struct vel_ctx_t *ctx = (struct vel_ctx_t *)ctx_ptr;
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struct vel_pin_ctx_t *pins = (struct vel_pin_ctx_t *)pin_ptr;
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if(PIN(en) == 0.0) {
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ctx->vel_sum = PIN(pos_in);
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ctx->acc_sum = 0.0;
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}
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float vel_ff = PIN(vel_ff) * PIN(h);
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ctx->vel_sum += (ctx->acc_sum + vel_ff) * period; // ff
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float pos_error = minus(PIN(pos_in), ctx->vel_sum);
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float w = PIN(w);
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float d = PIN(d);
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float g = PIN(g);
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float lp = LP_HZ(PIN(lp));
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float j = MAX(PIN(j), 0.0000001);
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float acc = g * PIN(torque) / j;
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ctx->last_acc = acc * lp + (1.0 - lp) * ctx->last_acc;
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float acc_ff = acc - ctx->last_acc;
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acc_ff += pos_error * w * w;
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ctx->acc_sum += acc_ff * period;
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PIN(vel) = ctx->acc_sum + vel_ff;
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PIN(acc) = acc_ff;
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vel_ff = 2.0 * d * w * pos_error;
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ctx->vel_sum += vel_ff * period;
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ctx->vel_sum = mod(ctx->vel_sum);
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PIN(pos_out) = ctx->vel_sum;
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PIN(pos_error) = minus(PIN(pos_in), ctx->vel_sum);
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}
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hal_comp_t vel_comp_struct = {
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.name = "vel",
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.nrt = 0,
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.rt = rt_func,
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.frt = 0,
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.nrt_init = nrt_init,
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.rt_start = 0,
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.frt_start = 0,
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.rt_stop = 0,
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.frt_stop = 0,
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.ctx_size = sizeof(struct vel_ctx_t),
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.pin_count = sizeof(struct vel_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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