mirror of
https://github.com/odriverobotics/ODrive.git
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b0700ef371
Fixed naming, docs, and test for CAN protocol - set trap traj a per css is now set trap traj inertia
110 lines
4.0 KiB
C++
110 lines
4.0 KiB
C++
#ifndef __CONTROLLER_HPP
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#define __CONTROLLER_HPP
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#ifndef __ODRIVE_MAIN_H
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#error "This file should not be included directly. Include odrive_main.h instead."
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#endif
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class Controller : public ODriveIntf::ControllerIntf {
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public:
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typedef struct {
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uint32_t index = 0;
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float cogging_map[3600];
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bool pre_calibrated = false;
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bool calib_anticogging = false;
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float calib_pos_threshold = 1.0f;
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float calib_vel_threshold = 1.0f;
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float cogging_ratio = 1.0f;
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bool anticogging_enabled = true;
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} Anticogging_t;
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struct Config_t {
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ControlMode control_mode = CONTROL_MODE_POSITION_CONTROL; //see: ControlMode_t
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InputMode input_mode = INPUT_MODE_PASSTHROUGH; //see: InputMode_t
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float pos_gain = 20.0f; // [(turn/s) / turn]
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float vel_gain = 1.0f / 6.0f; // [Nm/(turn/s)]
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// float vel_gain = 0.2f / 200.0f, // [Nm/(rad/s)] <sensorless example>
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float vel_integrator_gain = 2.0f / 6.0f; // [Nm/(turn/s * s)]
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float vel_limit = 2.0f; // [turn/s] Infinity to disable.
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float vel_limit_tolerance = 1.2f; // ratio to vel_lim. Infinity to disable.
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float vel_ramp_rate = 1.0f; // [(turn/s) / s]
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float torque_ramp_rate = 0.01f; // Nm / sec
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bool circular_setpoints = false;
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float circular_setpoint_range = 1.0f; // Circular range when circular_setpoints is true. [turn]
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float inertia = 0.0f; // [Nm/(turn/s^2)]
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float input_filter_bandwidth = 2.0f; // [1/s]
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float homing_speed = 0.25f; // [turn/s]
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Anticogging_t anticogging;
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float gain_scheduling_width = 10.0f;
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bool enable_gain_scheduling = false;
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bool enable_vel_limit = true;
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bool enable_overspeed_error = true;
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bool enable_current_mode_vel_limit = true; // enable velocity limit in current control mode (requires a valid velocity estimator)
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uint8_t axis_to_mirror = -1;
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float mirror_ratio = 1.0f;
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uint8_t load_encoder_axis = -1; // default depends on Axis number and is set in load_configuration()
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// custom setters
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Controller* parent;
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void set_input_filter_bandwidth(float value) { input_filter_bandwidth = value; parent->update_filter_gains(); }
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};
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explicit Controller(Config_t& config);
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void reset();
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void set_error(Error error);
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constexpr void input_pos_updated() {
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input_pos_updated_ = true;
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}
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bool select_encoder(size_t encoder_num);
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// Trajectory-Planned control
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void move_to_pos(float goal_point);
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void move_incremental(float displacement, bool from_goal_point);
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// TODO: make this more similar to other calibration loops
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void start_anticogging_calibration();
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bool anticogging_calibration(float pos_estimate, float vel_estimate);
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void update_filter_gains();
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bool update(float* torque_setpoint);
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Config_t& config_;
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Axis* axis_ = nullptr; // set by Axis constructor
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Error error_ = ERROR_NONE;
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float* pos_estimate_linear_src_ = nullptr;
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float* pos_estimate_circular_src_ = nullptr;
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bool* pos_estimate_valid_src_ = nullptr;
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float* vel_estimate_src_ = nullptr;
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bool* vel_estimate_valid_src_ = nullptr;
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float* pos_wrap_src_ = nullptr;
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float pos_setpoint_ = 0.0f; // [turns]
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float vel_setpoint_ = 0.0f; // [turn/s]
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// float vel_setpoint = 800.0f; <sensorless example>
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float vel_integrator_torque_ = 0.0f; // [Nm]
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float torque_setpoint_ = 0.0f; // [Nm]
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float input_pos_ = 0.0f; // [turns]
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float input_vel_ = 0.0f; // [turn/s]
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float input_torque_ = 0.0f; // [Nm]
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float input_filter_kp_ = 0.0f;
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float input_filter_ki_ = 0.0f;
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bool input_pos_updated_ = false;
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bool trajectory_done_ = true;
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bool anticogging_valid_ = false;
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// custom setters
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void set_input_pos(float value) { input_pos_ = value; input_pos_updated(); }
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};
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#endif // __CONTROLLER_HPP
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