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Add "enable" switches for controller options

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2019-08-24 21:44:23 -04:00
parent 2b58d15d8d
commit 63bebaa8de
2 changed files with 20 additions and 10 deletions
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Firmware/MotorControl/controller.cpp
+8 -6
View File
@@ -222,12 +222,14 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
// 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;
if (config_.enable_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) {
if (config_.enable_overspeed_error) { // 0.0f to disable
if (std::abs(vel_estimate) > config_.vel_limit_tolerance * vel_lim) {
set_error(ERROR_OVERSPEED);
return false;
}
@@ -239,7 +241,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
// 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_valid_) {
if (anticogging_valid_ && config_.anticogging.enable) {
Iq += config_.anticogging.cogging_map[std::clamp(mod(static_cast<int>(anticogging_pos), 3600), 0, 3600)];
}
@@ -252,7 +254,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
Iq += vel_integrator_current_;
// Velocity limiting in current mode
if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL && config_.vel_limit > 0.0f) {
if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL && config_.enable_current_vel_limit) {
Iq = limitVel(config_.vel_limit, vel_estimate, config_.vel_gain, Iq);
}
Firmware/MotorControl/controller.hpp
+12 -4
View File
@@ -40,6 +40,7 @@ class Controller {
float calib_pos_threshold = 1.0f;
float calib_vel_threshold = 1.0f;
float cogging_ratio = 1.0f;
bool enable = true;
} Anticogging_t;
struct Config_t {
@@ -57,8 +58,11 @@ class Controller {
float input_filter_bandwidth = 2.0f; // [1/s]
float homing_speed = 2000.0f; // [counts/s]
Anticogging_t anticogging;
float gain_scheduling_width = 10.0f;
bool enable_gain_scheduling = false;
float gain_scheduling_width = 10.0f;
bool enable_gain_scheduling = false;
bool enable_vel_limit = true;
bool enable_overspeed_error = true;
bool enable_current_vel_limit = true;
};
explicit Controller(Config_t& config);
@@ -125,8 +129,11 @@ class Controller {
make_protocol_property("vel_integrator_current", &vel_integrator_current_),
make_protocol_property("anticogging_valid", &anticogging_valid_),
make_protocol_property("gain_scheduling_width", &config_.gain_scheduling_width),
make_protocol_property("enable_gain_scheduling", &config_.enable_gain_scheduling),
make_protocol_object("config",
make_protocol_property("enable_vel_limit", &config_.enable_vel_limit),
make_protocol_property("enable_current_mode_vel_limit", &config_.enable_current_vel_limit),
make_protocol_property("enable_gain_scheduling", &config_.enable_gain_scheduling),
make_protocol_property("enable_overspeed_error", &config_.enable_overspeed_error),
make_protocol_property("control_mode", &config_.control_mode),
make_protocol_property("input_mode", &config_.input_mode),
make_protocol_property("pos_gain", &config_.pos_gain),
@@ -145,7 +152,8 @@ class Controller {
make_protocol_ro_property("calib_anticogging", &config_.anticogging.calib_anticogging),
make_protocol_property("calib_pos_threshold", &config_.anticogging.calib_pos_threshold),
make_protocol_property("calib_vel_threshold", &config_.anticogging.calib_vel_threshold),
make_protocol_ro_property("cogging_ratio", &config_.anticogging.cogging_ratio))),
make_protocol_ro_property("cogging_ratio", &config_.anticogging.cogging_ratio),
make_protocol_property("anticogging_enabled", &config_.anticogging.enable))),
make_protocol_function("move_incremental", *this, &Controller::move_incremental, "displacement", "from_goal_point"),
make_protocol_function("start_anticogging_calibration", *this, &Controller::start_anticogging_calibration),
make_protocol_function("home_axis", *this, &Controller::home_axis));