int main(int argc, char **argv){
error_t ret;
PID_o *pid;
PIDconfig_s pidConfig;
init();
pidConfig.setter = &set;
pidConfig.getter = &get;
pidConfig.getTimeUs = &getTime;
pidConfig.setpoint = &setp;
pidConfig.supervisor = &super;
pidConfig.maxSafePlantOutput = G_maxProcessValue;
ret = PIDcreate(pid, &pidConfig);
//now if gains are avaible, load them:
// PIDgains_s g;
// g.p = 1;
// g.i = 0;
// g.d = 0;
// timeUs_t T = 100000; //0.1s
// PIDloadGains(pid, g);
//or, if P, I and D gains are unknown ... run calibration. This is what consumes the codespace.
ret = PIDcalibrateInitialGuess(pid);
//Normally, one would set up a timer - but I'm lazy.
PIDinit(pid);
while(1){
PIDrun(pid);
}
// PIDdestroy(pid); //why bother?
return 0;
}
int main(int argc, char **argv)
{
//Register signal and signal handler
signal(SIGINT, signal_callback_handler);
//Init UDP with callbacks and pointer to run status
initUDP( &UDP_Command_Handler, &UDP_Control_Handler, &Running );
print("Eddie starting...\r\n");
initIdentity();
double EncoderPos[2] = {0};
initEncoders( 183, 46, 45, 44 );
print("Encoders activated.\r\n");
imuinit();
print("IMU Started.\r\n");
float kalmanAngle;
InitKalman();
#ifndef DISABLE_MOTORS
print( "Starting motor driver (and resetting wireless) please be patient..\r\n" );
if ( motor_driver_enable() < 1 )
{
print("Startup Failed; Error starting motor driver.\r\n");
motor_driver_disable();
return -1;
}
print("Motor Driver Started.\r\n");
#endif
print("Eddie is starting the UDP network thread..\r\n");
pthread_create( &udplistenerThread, NULL, &udplistener_Thread, NULL );
print( "Eddie is Starting PID controllers\r\n" );
/*Set default PID values and init pitchPID controllers*/
pidP_P_GAIN = PIDP_P_GAIN; pidP_I_GAIN = PIDP_I_GAIN; pidP_D_GAIN = PIDP_D_GAIN; pidP_I_LIMIT = PIDP_I_LIMIT; pidP_EMA_SAMPLES = PIDP_EMA_SAMPLES;
PIDinit( &pitchPID[0], &pidP_P_GAIN, &pidP_I_GAIN, &pidP_D_GAIN, &pidP_I_LIMIT, &pidP_EMA_SAMPLES );
PIDinit( &pitchPID[1], &pidP_P_GAIN, &pidP_I_GAIN, &pidP_D_GAIN, &pidP_I_LIMIT, &pidP_EMA_SAMPLES );
/*Set default values and init speedPID controllers*/
pidS_P_GAIN = PIDS_P_GAIN; pidS_I_GAIN = PIDS_I_GAIN; pidS_D_GAIN = PIDS_D_GAIN; pidS_I_LIMIT = PIDS_I_LIMIT; pidS_EMA_SAMPLES = PIDS_EMA_SAMPLES;
PIDinit( &speedPID[0], &pidS_P_GAIN, &pidS_I_GAIN, &pidS_D_GAIN, &pidS_I_LIMIT, &pidS_EMA_SAMPLES );
PIDinit( &speedPID[1], &pidS_P_GAIN, &pidS_I_GAIN, &pidS_D_GAIN, &pidS_I_LIMIT, &pidS_EMA_SAMPLES );
//Get estimate of starting angle and specify complementary filter and kalman filter start angles
getOrientation();
kalmanAngle = filteredPitch = i2cPitch;
setkalmanangle( filteredPitch );
filteredRoll = i2cRoll;
print( "Eddie startup complete. Hold me upright to begin\r\n" );
double gy_scale = 0.01;
last_PID_ms = last_gy_ms = current_milliseconds();
while(Running)
{
GetEncoders( EncoderPos );
if( fabs(GetEncoder()) > 2000 && !inRunAwayState )
{
print( "Help! I'm running and not moving.\r\n");
ResetEncoders();
inRunAwayState=1;
}
/*Read IMU and calculate rough angle estimates*/
getOrientation();
/*Calculate time since last IMU reading and determine gyro scale (dt)*/
gy_scale = ( current_milliseconds() - last_gy_ms ) / 1000.0f;
last_gy_ms = current_milliseconds();
/*Complementary filters to smooth rough pitch and roll estimates*/
filteredPitch = 0.995 * ( filteredPitch + ( gy * gy_scale ) ) + ( 0.005 * i2cPitch );
filteredRoll = 0.98 * ( filteredRoll + ( gx * gy_scale ) ) + ( 0.02 * i2cRoll );
/*Kalman filter for most accurate pitch estimates*/
kalmanAngle = -getkalmanangle(filteredPitch, gy, gy_scale /*dt*/);
/* Monitor angles to determine if Eddie has fallen too far... or if Eddie has been returned upright*/
if ( ( inRunAwayState || ( fabs( kalmanAngle ) > 50 || fabs( filteredRoll ) > 45 ) ) && !inFalloverState )
{
#ifndef DISABLE_MOTORS
motor_driver_standby(1);
#endif
inFalloverState = 1;
print( "Help! I've fallen over and I can't get up =)\r\n");
}
else if ( fabs( kalmanAngle ) < 10 && inFalloverState && fabs( filteredRoll ) < 20 )
{
if ( ++inSteadyState == 100 )
{
inRunAwayState = 0;
inSteadyState = 0;
#ifndef DISABLE_MOTORS
motor_driver_standby(0);
#endif
inFalloverState = 0;
print( "Thank you!\r\n" );
}
}
else
{
inSteadyState = 0;
}
if ( !inFalloverState )
{
/* Drive operations */
smoothedDriveTrim = ( 0.99 * smoothedDriveTrim ) + ( 0.01 * driveTrim );
if( smoothedDriveTrim != 0 )
{
EncoderAddPos(smoothedDriveTrim); //Alter encoder position to generate movement
}
/* Turn operations */
if( turnTrim != 0 )
{
EncoderAddPos2( turnTrim, -turnTrim ); //Alter encoder positions to turn
}
double timenow = current_milliseconds();
speedPIDoutput[0] = PIDUpdate( 0, EncoderPos[0], timenow - last_PID_ms, &speedPID[0] );//Wheel Speed PIDs
speedPIDoutput[1] = PIDUpdate( 0, EncoderPos[1], timenow - last_PID_ms, &speedPID[1] );//Wheel Speed PIDs
pitchPIDoutput[0] = PIDUpdate( speedPIDoutput[0], kalmanAngle, timenow - last_PID_ms, &pitchPID[0] );//Pitch Angle PIDs
pitchPIDoutput[1] = PIDUpdate( speedPIDoutput[1], kalmanAngle, timenow - last_PID_ms, &pitchPID[1] );//Pitch Angle PIDs
last_PID_ms = timenow;
//Limit PID output to +/-100 to match 100% motor throttle
if ( pitchPIDoutput[0] > 100.0 ) pitchPIDoutput[0] = 100.0;
if ( pitchPIDoutput[1] > 100.0 ) pitchPIDoutput[1] = 100.0;
if ( pitchPIDoutput[0] < -100.0 ) pitchPIDoutput[0] = -100.0;
if ( pitchPIDoutput[1] < -100.0 ) pitchPIDoutput[1] = -100.0;
}
else //We are inFalloverState
{
ResetEncoders();
pitchPID[0].accumulatedError = 0;
pitchPID[1].accumulatedError = 0;
speedPID[0].accumulatedError = 0;
speedPID[1].accumulatedError = 0;
driveTrim = 0;
turnTrim = 0;
}
#ifndef DISABLE_MOTORS
set_motor_speed_right( pitchPIDoutput[0] );
set_motor_speed_left( pitchPIDoutput[1] );
#endif
if ( (!inFalloverState || outputto == UDP) && StreamData )
{
print( "PIDout: %0.2f,%0.2f\tcompPitch: %6.2f kalPitch: %6.2f\tPe: %0.3f\tIe: %0.3f\tDe: %0.3f\tPe: %0.3f\tIe: %0.3f\tDe: %0.3f\r\n",
speedPIDoutput[0],
pitchPIDoutput[0],
filteredPitch,
kalmanAngle,
pitchPID[0].error,
pitchPID[0].accumulatedError,
pitchPID[0].differentialError,
speedPID[0].error,
speedPID[0].accumulatedError,
speedPID[0].differentialError
);
}
} //--while(Running)
print( "Eddie is cleaning up...\r\n" );
CloseEncoder();
pthread_join(udplistenerThread, NULL);
print( "UDP Thread Joined..\r\n" );
#ifndef DISABLE_MOTORS
motor_driver_disable();
print( "Motor Driver Disabled..\r\n" );
#endif
print( "Eddie cleanup complete. Good Bye!\r\n" );
return 0;
}
