Implement motor driver input voltage readings

Bulebots · May 9, 2019 · a0bc630 · a0bc630
1 parent abcf2d6
commit a0bc630
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Showing 6 changed files with 29 additions and 13 deletions.
diff --git a/scripts/notebooks/show_data.ipynb b/scripts/notebooks/show_data.ipynb
@@ -37,14 +37,14 @@
     "        value = yaml.load(row.data)\n",
     "    except yaml.error.YAMLError:\n",
     "        continue\n",
-    "    if len(value) != 10:\n",
+    "    if len(value) != 12:\n",
     "        print(value)\n",
     "        continue\n",
     "    data.append([row.timestamp] + value)\n",
     "df = DataFrame(data)\n",
     "df.columns = ['timestamp', 'front_left', 'front_right', 'side_left', 'side_right',\n",
     "              'linear_ideal', 'linear_measured', 'angular_ideal', 'angular_measured',\n",
-    "              'pwm_left', 'pwm_right']\n",
+    "              'voltage_left', 'voltage_right', 'pwm_left', 'pwm_right']\n",
     "df['timestamp'] /= 1000\n",
     "df = df.set_index('timestamp')\n",
     "df = df.sort_index()\n",

diff --git a/src/config.h b/src/config.h
@@ -20,16 +20,16 @@
 #define SENSOR_FRONT_RIGHT_B 0.258
 
 /** Control constants */
-#define KP_LINEAR 800.
-#define KD_LINEAR 1600.
-#define KP_ANGULAR 5.
-#define KD_ANGULAR 100.
-#define KP_ANGULAR_FRONT 50.
-#define KI_ANGULAR_FRONT 200.
-#define KP_ANGULAR_SIDE 200.
-#define KI_ANGULAR_SIDE 400.
-#define KP_ANGULAR_DIAGONAL 200.
-#define KI_ANGULAR_DIAGONAL 400.
+#define KP_LINEAR 8.
+#define KD_LINEAR 16.
+#define KP_ANGULAR .05
+#define KD_ANGULAR 1.
+#define KP_ANGULAR_FRONT .5
+#define KI_ANGULAR_FRONT 2.
+#define KP_ANGULAR_SIDE 2.
+#define KI_ANGULAR_SIDE 4.
+#define KP_ANGULAR_DIAGONAL 2.
+#define KI_ANGULAR_DIAGONAL 4.
 
 struct control_constants {
 	float kp_linear;

diff --git a/src/mmlib b/src/mmlib
diff --git a/src/setup.h b/src/setup.h
@@ -28,6 +28,9 @@
 #define WALL_WIDTH 0.012
 #define MIDDLE_MAZE_DISTANCE ((CELL_DIMENSION - WALL_WIDTH) / 2.)
 
+/** Motor driver input voltage */
+#define MOTOR_DRIVER_INPUT_VOLTAGE 9.
+
 /** Mouse dimensions */
 #define MOUSE_MOTOR_TAIL 0.037
 #define MOUSE_MOTOR_HEAD 0.057

diff --git a/src/voltage.c b/src/voltage.c
@@ -21,3 +21,15 @@ float get_battery_voltage(void)
 	battery_bits = adc_read_regular(ADC2);
 	return battery_bits * ADC_LSB * VOLT_DIV_FACTOR;
 }
+
+/**
+ * @brief Function to get motor driver input voltage.
+ *
+ * In Bulebule, we assume the motor driver input voltage is constant.
+ *
+ *@return The motor driver input voltage in volts.
+ */
+float get_motor_driver_input_voltage(void)
+{
+	return MOTOR_DRIVER_INPUT_VOLTAGE;
+}
diff --git a/src/voltage.h b/src/voltage.h
@@ -6,5 +6,6 @@
 #include "setup.h"
 
 float get_battery_voltage(void);
+float get_motor_driver_input_voltage(void);
 
 #endif /* __VOLTAGE_H */