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updated firmware

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This commit is contained in:
0x23 2025-08-28 14:07:54 +02:00
parent 9891b8ed44
commit f17ca0c820
11 changed files with 273 additions and 56 deletions
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6
firmware/MotionControllerRP/src/servo_control/servo_controller.cpp
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@ -34,9 +34,9 @@ void ServoController::init(float max_motor_amplitude) {
sleep_ms(1);
}
velocity_lowpass.set_time_constant(0.0025f);
pos_controller.set_parameter(150.0f, 50000.0f, 0.0f, Constants::PI_F*2.0F, Constants::PI_F*0.5F);
velocity_controller.set_parameter(0.2f, 100.0f, 0.0f, Constants::PI_F*0.45f, Constants::PI_F*0.45f);
velocity_lowpass.set_time_constant(0.004f);
pos_controller.set_parameter(75.0f, 50000.0f, 0.0f, Constants::PI_F*2.0F, Constants::PI_F*0.5F);
velocity_controller.set_parameter(0.2f, 150.0f, 0.0f, Constants::PI_F*0.45f, Constants::PI_F*0.45f);
}
void ServoController::set_encoder_lut(LookupTable& enc_to_pos_lut) {

9
firmware/MotionControllerRP/src/servo_control/servo_controller.h
View file

@ -50,15 +50,16 @@ class ServoController {
float motor_pos_to_field_angle(float motor_pos);
float motor_velocity_to_field_velocity(float v);
public:
LowpassFilter velocity_lowpass;
PIDController pos_controller;
PIDController velocity_controller;
private:
ENCODER_TYPE& encoder;
MOTOR_DRIVER_TYPE& motor_driver;
LookupTable enc_to_pos_lut;
LowpassFilter velocity_lowpass;
PIDController pos_controller;
PIDController velocity_controller;
float motor_pos = 0; // current motor position
float motor_pos_prev = 0; // previous motor position
float pos_error = 0; // current position error as computed by upate()