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English translation and comments corrections #26

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merged 4 commits into from
Aug 5, 2016
Merged

English translation and comments corrections #26

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d8ada40
ControladorRobo.ino: Comments translation
patrickelectric Aug 5, 2016
35a5081
control: Comments organization and english translation
patrickelectric Aug 5, 2016
5fb3a67
hbridge.cpp: Comments organization and comments translation
patrickelectric Aug 5, 2016
92615fa
irarray: Comments translation
patrickelectric Aug 5, 2016
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16 changes: 6 additions & 10 deletions Firmware/ControladorRobo/ControladorRobo.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -21,13 +21,13 @@ char debug_buffer[128];
#define freq 50.0
#define actFreq 20

//variaveis para controle de velocidade
// variables for velocity control
float refDir = 0.0;
float refEsq = 0.0;
float basespeed = 0.3;

// posicao angular de cada roda, com provavel perda de resolucao depois de algum tempo.
// será usada para controle de posicao do robô (girar 90º, por exemplo)
// angular position of each wheel, with loss of resolution after some time
// will be used to know robot position
float leftAngPos = 0;
float rightAngPos = 0;

Expand All @@ -42,7 +42,7 @@ Controller directionController = Controller(0.1, 0, 0, 1/actFreq);

void peripheralsSetup()
{
// Seta os pinos de chave como entrada em pull-up
// Sets switch pins to PULLUP mode
pinMode(SWITCH1, INPUT_PULLUP);
pinMode(SWITCH2, INPUT_PULLUP);
Serial.begin(115200);
Expand Down Expand Up @@ -93,14 +93,10 @@ void loop()
basespeed *= 1.001;
}

///////////////////////////////////////////////////////////funcoes//////////////////////////////////////////////////////////////////////////////


// interrupcao para TIMER1, periodo de amostragem para controle de velocidade
// TIMER1 interruption, sample time for velocity control
ISR(TIMER1_COMPA_vect)
{
// Calculo das velocidades dos motores

// encoder ticks to angular velocity
float rightAngularDelta = ((float)right.read()/ENCODER_RESOLUTION)*M_PI;
float leftAngularDelta = ((float)left.read()/ENCODER_RESOLUTION)*M_PI;

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16 changes: 8 additions & 8 deletions Firmware/ControladorRobo/control.cpp
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Expand Up @@ -2,7 +2,7 @@

void controllersSetup()
{
//Interrupcao do TIMER1, aka periodo de amostragem para calculo do controle de velocidade
// TIMER1 interruption, sample time for velocity control
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
Expand Down Expand Up @@ -32,21 +32,21 @@ Controller::~Controller()
{
}

float Controller::update(float setpoint, float current_value)
/* Returns control output */
float Controller::update(float setpoint, float current_value)
{
float erro,up,ui,ud, u_total, u_sat;
erro = setpoint - current_value;
up = kc*erro; //termo proporcional
ui = ui_k1 + ((kc*ts)/ti)*erro_k1; //termo integral
ud = ((kc*td)/ts)*(erro - erro_k1); //termo derivativo
ui= ui + (taw)*eaw_k1; //termo anti windup
up = kc*erro; // proporcional
ui = ui_k1 + ((kc*ts)/ti)*erro_k1; // integral
ud = ((kc*td)/ts)*(erro - erro_k1); // derivative
ui = ui + (taw)*eaw_k1; // anti windup

u_total = up + ui + ud;

u_sat = min(umax,max(u_total,umin)); //saturação
u_sat = min(umax, max(u_total, umin)); // saturation

eaw_k1 = u_sat - u_total; // erro de saturação
eaw_k1 = u_sat - u_total; // saturation error

erro_k1 = erro;
ui_k1 = ui;
Expand Down
4 changes: 2 additions & 2 deletions Firmware/ControladorRobo/control.h
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Expand Up @@ -14,10 +14,10 @@
#define umin -1.0
#define umax 1.0

//Modelo Esquerdo
// Right model
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@Williangalvani Williangalvani Aug 5, 2016 •
edited
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Right model is kind of vague. This is actually a linear approximation of the system motor + wheel using a "first-order plus deadtime" (FOPDT) transfer function, where t1 is the time constant, theta is the delay, and kp is the gain.

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// Linear approximation of motor-wheel system with a first-order equation
what you think ?

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Its good, a better explanation should be given when fixing issue #21

//float kpesq = (4.86*(500/255)), t1esq = (1.06/3), tetaesq = .02;

//Modelo Direito
// Left model
//float kpdir = (5.15*(500/255)), t1dir = (0.8/3), tetadir = .02;
void controllersSetup();

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8 changes: 4 additions & 4 deletions Firmware/ControladorRobo/hbridge.cpp
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Expand Up @@ -11,7 +11,7 @@ HBridge::HBridge()
pinMode(RIGHT_WHEEL_BACKWARD_PIN, OUTPUT);
pinMode(RIGHT_WHEEL_SPEED_PIN, OUTPUT);

//inicia com motores desligados
// start with motors off
digitalWrite(LEFT_WHEEL_FORWARD_PIN,LOW);
digitalWrite(LEFT_WHEEL_BACKWARD_PIN,LOW);
digitalWrite(RIGHT_WHEEL_FORWARD_PIN,LOW);
Expand All @@ -29,9 +29,9 @@ void HBridge::setWheelPWM(uint8_t wheel, float speed)
{
speed = sat(speed,1,-1);
uint8_t PWM = (uint8_t)(float)(abs(speed)*255.0);
uint8_t pin_f; //forward pin
uint8_t pin_b; //backward pin
uint8_t pin_s; //signal pin
uint8_t pin_f; // forward pin
uint8_t pin_b; // backward pin
uint8_t pin_s; // signal pin
switch (wheel)
{
case LEFT:
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2 changes: 1 addition & 1 deletion Firmware/ControladorRobo/irarray.cpp
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Expand Up @@ -43,7 +43,7 @@ void IRArray::saveCalibrationToEEPROM()
}
}

// le os valores do branco da eeprom
// read values from eeprom
void IRArray::loadCalibrationFromEEPROM()
{
for (uint16_t i = CALLIB_ADDRESS; i<CALLIB_ADDRESS + NUMBER_OF_SENSORS; i++)
Expand Down
6 changes: 3 additions & 3 deletions Firmware/ControladorRobo/irarray.h
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Expand Up @@ -2,7 +2,7 @@

#include <Arduino.h>

// Passar parte da eeprom para um outra classe
// TODO: create eeprom class
// eeprom address for the sensors
#define CALLIB_ADDRESS 0

Expand All @@ -21,15 +21,15 @@ class IRArray
void saveCalibrationToEEPROM();
void loadCalibrationFromEEPROM();

// pinos para leitura analógica
// pins for analog read
static uint16_t m_sensorPin[NUMBER_OF_SENSORS];
uint8_t m_sensorLow[NUMBER_OF_SENSORS];
uint8_t m_sensorHigh[NUMBER_OF_SENSORS];
byte m_enablePin;
uint16_t m_sensorRaw[NUMBER_OF_SENSORS];
uint16_t m_sensor[NUMBER_OF_SENSORS];

// le os sensores e salva o valor lido de cada um no byte[9]
// run calibration routine
bool m_calibrating;

public:
Expand Down