void idlingCoupledJoints(const int i, const bool sw)
{
IControlMode *imod;
driver->view(imod);
PidData &pid=pids[i];
for (size_t j=0; j<pid.idling_joints.size(); j++)
imod->setControlMode(pid.idling_joints[j],
sw?VOCAB_CM_IDLE:VOCAB_CM_POSITION);
}
bool tune(const int i)
{
PidData &pid=pids[i];
Property pGeneral;
pGeneral.put("joint",i);
string sGeneral="(general ";
sGeneral+=pGeneral.toString();
sGeneral+=')';
Bottle bGeneral,bPlantEstimation,bStictionEstimation;
bGeneral.fromString(sGeneral);
bPlantEstimation.fromString("(plant_estimation (Ts 0.01) (Q 1.0) (R 1.0) (P0 100000.0) (tau 1.0) (K 1.0) (max_pwm 800.0))");
bStictionEstimation.fromString("(stiction_estimation (Ts 0.01) (T 2.0) (vel_thres 5.0) (e_thres 1.0) (gamma (10.0 10.0)) (stiction (0.0 0.0)))");
Bottle bConf=bGeneral;
bConf.append(bPlantEstimation);
bConf.append(bStictionEstimation);
Property pOptions(bConf.toString().c_str());
OnlineCompensatorDesign designer;
if (!designer.configure(*driver,pOptions))
{
yError("designer configuration failed!");
return false;
}
idlingCoupledJoints(i,true);
Property pPlantEstimation;
pPlantEstimation.put("max_time",20.0);
pPlantEstimation.put("switch_timeout",2.0);
designer.startPlantEstimation(pPlantEstimation);
yInfo("Estimating plant for joint %d: max duration = %g seconds",
i,pPlantEstimation.find("max_time").asDouble());
double t0=Time::now();
while (!designer.isDone())
{
yInfo("elapsed %d [s]",(int)(Time::now()-t0));
Time::delay(1.0);
if (interrupting)
{
idlingCoupledJoints(i,false);
return false;
}
}
Property pResults;
designer.getResults(pResults);
double tau=pResults.find("tau_mean").asDouble();
double K=pResults.find("K_mean").asDouble();
yInfo("plant = %g/s * 1/(1+s*%g)",K,tau);
Property pControllerRequirements,pController;
pControllerRequirements.put("tau",tau);
pControllerRequirements.put("K",K);
pControllerRequirements.put("f_c",0.75);
if (i!=15)
{
pControllerRequirements.put("T_dr",1.0);
pControllerRequirements.put("type","PI");
}
else
pControllerRequirements.put("type","P");
designer.tuneController(pControllerRequirements,pController);
yInfo("tuning results: %s",pController.toString().c_str());
double Kp=pController.find("Kp").asDouble();
double Ki=pController.find("Ki").asDouble();
pid.scale=4.0;
int scale=(int)pid.scale; int shift=1<<scale;
double fwKp=floor(Kp*pid.encs_ratio*shift);
double fwKi=floor(Ki*pid.encs_ratio*shift/1000.0);
pid.Kp=yarp::math::sign(pid.Kp*fwKp)>0.0?fwKp:-fwKp;
pid.Ki=yarp::math::sign(pid.Ki*fwKi)>0.0?fwKi:-fwKi;
pid.Kd=0.0;
yInfo("Kp (FW) = %g; Ki (FW) = %g; Kd (FW) = %g; shift factor = %d",pid.Kp,pid.Ki,pid.Kd,scale);
Property pStictionEstimation;
pStictionEstimation.put("max_time",60.0);
pStictionEstimation.put("Kp",Kp);
pStictionEstimation.put("Ki",0.0);
pStictionEstimation.put("Kd",0.0);
designer.startStictionEstimation(pStictionEstimation);
yInfo("Estimating stiction for joint %d: max duration = %g seconds",
i,pStictionEstimation.find("max_time").asDouble());
t0=Time::now();
while (!designer.isDone())
{
yInfo("elapsed %d [s]",(int)(Time::now()-t0));
Time::delay(1.0);
if (interrupting)
{
idlingCoupledJoints(i,false);
return false;
}
}
designer.getResults(pResults);
pid.st_up=floor(pResults.find("stiction").asList()->get(0).asDouble());
pid.st_down=floor(pResults.find("stiction").asList()->get(1).asDouble());
yInfo("Stiction values: up = %g; down = %g",pid.st_up,pid.st_down);
IControlMode *imod;
IPositionControl *ipos;
IEncoders *ienc;
driver->view(imod);
driver->view(ipos);
driver->view(ienc);
imod->setControlMode(i,VOCAB_CM_POSITION);
ipos->setRefSpeed(i,50.0);
ipos->positionMove(i,0.0);
yInfo("Driving the joint back to rest... ");
t0=Time::now();
while (Time::now()-t0<5.0)
{
double enc;
ienc->getEncoder(i,&enc);
if (fabs(enc)<1.0)
break;
if (interrupting)
{
idlingCoupledJoints(i,false);
return false;
}
Time::delay(0.2);
}
yInfo("done!");
idlingCoupledJoints(i,false);
return true;
}