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5684e14 Nov 27, 2018
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@Wetmelon @madcowswe @samuelsadok
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#include "odrive_main.h"
Controller::Controller(Config_t& config) :
config_(config)
{}
void Controller::reset() {
pos_setpoint_ = 0.0f;
vel_setpoint_ = 0.0f;
vel_integrator_current_ = 0.0f;
current_setpoint_ = 0.0f;
}
void Controller::set_error(Error_t error) {
error_ |= error;
axis_->error_ |= Axis::ERROR_CONTROLLER_FAILED;
}
//--------------------------------
// Command Handling
//--------------------------------
void Controller::set_pos_setpoint(float pos_setpoint, float vel_feed_forward, float current_feed_forward) {
pos_setpoint_ = pos_setpoint;
vel_setpoint_ = vel_feed_forward;
current_setpoint_ = current_feed_forward;
config_.control_mode = CTRL_MODE_POSITION_CONTROL;
#ifdef DEBUG_PRINT
printf("POSITION_CONTROL %6.0f %3.3f %3.3f\n", pos_setpoint, vel_setpoint_, current_setpoint_);
#endif
}
void Controller::set_vel_setpoint(float vel_setpoint, float current_feed_forward) {
vel_setpoint_ = vel_setpoint;
current_setpoint_ = current_feed_forward;
config_.control_mode = CTRL_MODE_VELOCITY_CONTROL;
#ifdef DEBUG_PRINT
printf("VELOCITY_CONTROL %3.3f %3.3f\n", vel_setpoint_, motor->current_setpoint_);
#endif
}
void Controller::set_current_setpoint(float current_setpoint) {
current_setpoint_ = current_setpoint;
config_.control_mode = CTRL_MODE_CURRENT_CONTROL;
#ifdef DEBUG_PRINT
printf("CURRENT_CONTROL %3.3f\n", current_setpoint_);
#endif
}
void Controller::move_to_pos(float goal_point) {
axis_->trap_.planTrapezoidal(goal_point, pos_setpoint_, vel_setpoint_,
axis_->trap_.config_.vel_limit,
axis_->trap_.config_.accel_limit,
axis_->trap_.config_.decel_limit);
traj_start_loop_count_ = axis_->loop_counter_;
config_.control_mode = CTRL_MODE_TRAJECTORY_CONTROL;
}
void Controller::start_anticogging_calibration() {
// Ensure the cogging map was correctly allocated earlier and that the motor is capable of calibrating
if (anticogging_.cogging_map != NULL && axis_->error_ == Axis::ERROR_NONE) {
anticogging_.calib_anticogging = true;
}
}
/*
* This anti-cogging implementation iterates through each encoder position,
* waits for zero velocity & position error,
* then samples the current required to maintain that position.
*
* This holding current is added as a feedforward term in the control loop.
*/
bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate) {
if (anticogging_.calib_anticogging && anticogging_.cogging_map != NULL) {
float pos_err = anticogging_.index - pos_estimate;
if (fabsf(pos_err) <= anticogging_.calib_pos_threshold &&
fabsf(vel_estimate) < anticogging_.calib_vel_threshold) {
anticogging_.cogging_map[anticogging_.index++] = vel_integrator_current_;
}
if (anticogging_.index < axis_->encoder_.config_.cpr) { // TODO: remove the dependency on encoder CPR
set_pos_setpoint(anticogging_.index, 0.0f, 0.0f);
return false;
} else {
anticogging_.index = 0;
set_pos_setpoint(0.0f, 0.0f, 0.0f); // Send the motor home
anticogging_.use_anticogging = true; // We're good to go, enable anti-cogging
anticogging_.calib_anticogging = false;
return true;
}
}
return false;
}
bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
// Only runs if anticogging_.calib_anticogging is true; non-blocking
anticogging_calibration(pos_estimate, vel_estimate);
float anticogging_pos = pos_estimate;
// Trajectory control
if (config_.control_mode == CTRL_MODE_TRAJECTORY_CONTROL) {
// Note: uint32_t loop count delta is OK across overflow
// Beware of negative deltas, as they will not be well behaved due to uint!
float t = (axis_->loop_counter_ - traj_start_loop_count_) * current_meas_period;
if (t > axis_->trap_.Tf_) {
// Drop into position control mode when done to avoid problems on loop counter delta overflow
config_.control_mode = CTRL_MODE_POSITION_CONTROL;
// pos_setpoint already set by trajectory
vel_setpoint_ = 0.0f;
current_setpoint_ = 0.0f;
} else {
TrapezoidalTrajectory::Step_t traj_step = axis_->trap_.eval(t);
pos_setpoint_ = traj_step.Y;
vel_setpoint_ = traj_step.Yd;
current_setpoint_ = traj_step.Ydd * axis_->trap_.config_.A_per_css;
}
anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
}
// Ramp rate limited velocity setpoint
if (config_.control_mode == CTRL_MODE_VELOCITY_CONTROL && vel_ramp_enable_) {
float max_step_size = current_meas_period * config_.vel_ramp_rate;
float full_step = vel_ramp_target_ - vel_setpoint_;
float step;
if (fabsf(full_step) > max_step_size) {
step = std::copysignf(max_step_size, full_step);
} else {
step = full_step;
}
vel_setpoint_ += step;
}
// Position control
// TODO Decide if we want to use encoder or pll position here
float vel_des = vel_setpoint_;
if (config_.control_mode >= CTRL_MODE_POSITION_CONTROL) {
float pos_err;
if (config_.setpoints_in_cpr) {
// TODO this breaks the semantics that estimates come in on the arguments.
// It's probably better to call a get_estimate that will arbitrate (enc vs sensorless) instead.
float cpr = (float)(axis_->encoder_.config_.cpr);
// Keep pos setpoint from drifting
pos_setpoint_ = fmodf_pos(pos_setpoint_, cpr);
// Circular delta
pos_err = pos_setpoint_ - axis_->encoder_.pos_cpr_;
pos_err = wrap_pm(pos_err, 0.5f * cpr);
} else {
pos_err = pos_setpoint_ - pos_estimate;
}
vel_des += config_.pos_gain * pos_err;
}
// Velocity limiting
float vel_lim = config_.vel_limit;
if (vel_des > vel_lim) vel_des = vel_lim;
if (vel_des < -vel_lim) vel_des = -vel_lim;
// Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
if (config_.vel_limit_tolerance > 0.0f) { // 0.0f to disable
if (fabsf(vel_estimate) > config_.vel_limit_tolerance * vel_lim) {
set_error(ERROR_OVERSPEED);
return false;
}
}
// Velocity control
float Iq = current_setpoint_;
// Anti-cogging is enabled after calibration
// We get the current position and apply a current feed-forward
// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
if (anticogging_.use_anticogging) {
Iq += anticogging_.cogging_map[mod(static_cast<int>(anticogging_pos), axis_->encoder_.config_.cpr)];
}
float v_err = vel_des - vel_estimate;
if (config_.control_mode >= CTRL_MODE_VELOCITY_CONTROL) {
Iq += config_.vel_gain * v_err;
}
// Velocity integral action before limiting
Iq += vel_integrator_current_;
// Current limiting
float Ilim = std::min(axis_->motor_.config_.current_lim, axis_->motor_.current_control_.max_allowed_current);
bool limited = false;
if (Iq > Ilim) {
limited = true;
Iq = Ilim;
}
if (Iq < -Ilim) {
limited = true;
Iq = -Ilim;
}
// Velocity integrator (behaviour dependent on limiting)
if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL) {
// reset integral if not in use
vel_integrator_current_ = 0.0f;
} else {
if (limited) {
// TODO make decayfactor configurable
vel_integrator_current_ *= 0.99f;
} else {
vel_integrator_current_ += (config_.vel_integrator_gain * current_meas_period) * v_err;
}
}
if (current_setpoint_output) *current_setpoint_output = Iq;
return true;
}