mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-02-07 16:01:52 +08:00
353 lines
13 KiB
C++
353 lines
13 KiB
C++
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#include "odrive_main.h"
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#include <algorithm>
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#include <algorithm>
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Controller::Controller(Config_t& config) :
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config_(config)
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{
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update_filter_gains();
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}
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void Controller::reset() {
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pos_setpoint_ = 0.0f;
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vel_setpoint_ = 0.0f;
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vel_integrator_current_ = 0.0f;
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current_setpoint_ = 0.0f;
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}
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void Controller::set_error(Error_t error) {
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error_ |= error;
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axis_->error_ |= Axis::ERROR_CONTROLLER_FAILED;
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}
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//--------------------------------
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// Command Handling
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//--------------------------------
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void Controller::input_pos_updated() {
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input_pos_updated_ = true;
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}
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bool Controller::select_encoder(size_t encoder_num) {
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if (encoder_num < AXIS_COUNT) {
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Axis* ax = axes[encoder_num];
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if (config_.setpoints_in_cpr) {
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pos_estimate_src_ = &ax->encoder_.pos_cpr_;
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pos_wrap_src_ = &ax->encoder_.config_.cpr;
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} else {
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pos_estimate_src_ = &ax->encoder_.pos_estimate_;
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pos_wrap_src_ = nullptr;
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}
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pos_estimate_valid_src_ = &ax->encoder_.pos_estimate_valid_;
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vel_estimate_src_ = &ax->encoder_.vel_estimate_;
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vel_estimate_valid_src_ = &ax->encoder_.vel_estimate_valid_;
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return true;
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} else {
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return set_error(Controller::ERROR_INVALID_LOAD_ENCODER), false;
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}
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}
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void Controller::move_to_pos(float goal_point) {
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axis_->trap_.planTrapezoidal(goal_point, pos_setpoint_, vel_setpoint_,
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axis_->trap_.config_.vel_limit,
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axis_->trap_.config_.accel_limit,
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axis_->trap_.config_.decel_limit);
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traj_start_loop_count_ = axis_->loop_counter_;
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trajectory_done_ = false;
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}
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void Controller::move_incremental(float displacement, bool from_input_pos = true){
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if(from_input_pos){
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input_pos_ += displacement;
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} else{
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input_pos_ = pos_setpoint_ + displacement;
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}
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input_pos_updated();
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}
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void Controller::start_anticogging_calibration() {
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// Ensure the cogging map was correctly allocated earlier and that the motor is capable of calibrating
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if (axis_->error_ == Axis::ERROR_NONE) {
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config_.anticogging.calib_anticogging = true;
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}
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}
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/*
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* This anti-cogging implementation iterates through each encoder position,
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* waits for zero velocity & position error,
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* then samples the current required to maintain that position.
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*
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* This holding current is added as a feedforward term in the control loop.
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*/
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bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate) {
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float pos_err = input_pos_ - pos_estimate;
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if (std::abs(pos_err) <= config_.anticogging.calib_pos_threshold &&
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std::abs(vel_estimate) < config_.anticogging.calib_vel_threshold) {
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config_.anticogging.cogging_map[std::clamp<uint32_t>(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;
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}
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if (config_.anticogging.index < 3600) {
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config_.control_mode = CTRL_MODE_POSITION_CONTROL;
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input_pos_ = config_.anticogging.index * axis_->encoder_.getCoggingRatio();
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input_vel_ = 0.0f;
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input_current_ = 0.0f;
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input_pos_updated();
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return false;
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} else {
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config_.anticogging.index = 0;
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config_.control_mode = CTRL_MODE_POSITION_CONTROL;
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input_pos_ = 0.0f; // Send the motor home
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input_vel_ = 0.0f;
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input_current_ = 0.0f;
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input_pos_updated();
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anticogging_valid_ = true;
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config_.anticogging.calib_anticogging = false;
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return true;
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}
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}
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void Controller::update_filter_gains() {
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input_filter_ki_ = 2.0f * config_.input_filter_bandwidth; // basic conversion to discrete time
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input_filter_kp_ = 0.25f * (input_filter_ki_ * input_filter_ki_); // Critically damped
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}
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static float limitVel(const float vel_limit, const float vel_estimate, const float vel_gain, const float Iq) {
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float Imax = (vel_limit - vel_estimate) * vel_gain;
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float Imin = (-vel_limit - vel_estimate) * vel_gain;
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return std::clamp(Iq, Imin, Imax);
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}
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bool Controller::update(float* current_setpoint_output) {
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float* pos_estimate_src = (pos_estimate_valid_src_ && *pos_estimate_valid_src_)
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? pos_estimate_src_ : nullptr;
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float* vel_estimate_src = (vel_estimate_valid_src_ && *vel_estimate_valid_src_)
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? vel_estimate_src_ : nullptr;
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// Calib_anticogging is only true when calibration is occurring, so we can't block anticogging_pos
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float anticogging_pos = axis_->encoder_.pos_estimate_ / axis_->encoder_.getCoggingRatio();
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if (config_.anticogging.calib_anticogging) {
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if (!axis_->encoder_.pos_estimate_valid_ || !axis_->encoder_.vel_estimate_valid_) {
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set_error(ERROR_INVALID_ESTIMATE);
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return false;
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}
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// non-blocking
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anticogging_calibration(axis_->encoder_.pos_estimate_, axis_->encoder_.vel_estimate_);
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}
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// TODO also enable circular deltas for 2nd order filter, etc.
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if (pos_wrap_src_) {
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float cpr = *pos_wrap_src_;
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// Keep pos setpoint from drifting
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input_pos_ = fmodf_pos(input_pos_, cpr);
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}
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// Update inputs
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switch (config_.input_mode) {
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case INPUT_MODE_INACTIVE: {
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// do nothing
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} break;
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case INPUT_MODE_PASSTHROUGH: {
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pos_setpoint_ = input_pos_;
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vel_setpoint_ = input_vel_;
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current_setpoint_ = input_current_;
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} break;
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case INPUT_MODE_VEL_RAMP: {
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float max_step_size = std::abs(current_meas_period * config_.vel_ramp_rate);
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float full_step = input_vel_ - vel_setpoint_;
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float step = std::clamp(full_step, -max_step_size, max_step_size);
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vel_setpoint_ += step;
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current_setpoint_ = step / current_meas_period * config_.inertia;
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} break;
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case INPUT_MODE_CURRENT_RAMP: {
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float max_step_size = std::abs(current_meas_period * config_.current_ramp_rate);
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float full_step = input_current_ - current_setpoint_;
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float step = std::clamp(full_step, -max_step_size, max_step_size);
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current_setpoint_ += step;
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} break;
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case INPUT_MODE_POS_FILTER: {
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// 2nd order pos tracking filter
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float delta_pos = input_pos_ - pos_setpoint_; // Pos error
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float delta_vel = input_vel_ - vel_setpoint_; // Vel error
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float accel = input_filter_kp_*delta_pos + input_filter_ki_*delta_vel; // Feedback
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current_setpoint_ = accel * config_.inertia; // Accel
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vel_setpoint_ += std::clamp(current_meas_period * accel, 2.0f * std::abs(delta_vel), -2.0f * std::abs(delta_vel)); // delta vel
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pos_setpoint_ += current_meas_period * vel_setpoint_; // Delta pos
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} break;
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case INPUT_MODE_MIRROR: {
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if (config_.axis_to_mirror < AXIS_COUNT) {
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pos_setpoint_ = axes[config_.axis_to_mirror]->encoder_.pos_estimate_ * config_.mirror_ratio;
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vel_setpoint_ = axes[config_.axis_to_mirror]->encoder_.vel_estimate_ * config_.mirror_ratio;
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} else {
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set_error(ERROR_INVALID_MIRROR_AXIS);
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return false;
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}
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} break;
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// case INPUT_MODE_MIX_CHANNELS: {
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// // NOT YET IMPLEMENTED
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// } break;
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case INPUT_MODE_TRAP_TRAJ: {
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if(input_pos_updated_){
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move_to_pos(input_pos_);
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input_pos_updated_ = false;
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}
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// Avoid updating uninitialized trajectory
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if (trajectory_done_)
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break;
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// Note: uint32_t loop count delta is OK across overflow
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// Beware of negative deltas, as they will not be well behaved due to uint!
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float t = (axis_->loop_counter_ - traj_start_loop_count_) * current_meas_period;
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if (t > axis_->trap_.Tf_) {
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// Drop into position control mode when done to avoid problems on loop counter delta overflow
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config_.control_mode = CTRL_MODE_POSITION_CONTROL;
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pos_setpoint_ = input_pos_;
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vel_setpoint_ = 0.0f;
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current_setpoint_ = 0.0f;
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trajectory_done_ = true;
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} else {
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TrapezoidalTrajectory::Step_t traj_step = axis_->trap_.eval(t);
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pos_setpoint_ = traj_step.Y;
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vel_setpoint_ = traj_step.Yd;
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current_setpoint_ = traj_step.Ydd * config_.inertia;
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}
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anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
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} break;
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default: {
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set_error(ERROR_INVALID_INPUT_MODE);
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return false;
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}
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}
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// Position control
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// TODO Decide if we want to use encoder or pll position here
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float gain_scheduling_multiplier = 1.0f;
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float vel_des = vel_setpoint_;
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if (config_.control_mode >= CTRL_MODE_POSITION_CONTROL) {
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float pos_err;
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if (!pos_estimate_src) {
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set_error(ERROR_INVALID_ESTIMATE);
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return false;
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}
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if (pos_wrap_src_) {
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float cpr = *pos_wrap_src_;
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// Keep pos setpoint from drifting
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pos_setpoint_ = fmodf_pos(pos_setpoint_, cpr);
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// Circular delta
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pos_err = pos_setpoint_ - *pos_estimate_src;
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pos_err = wrap_pm(pos_err, 0.5f * cpr);
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} else {
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pos_err = pos_setpoint_ - *pos_estimate_src;
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}
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vel_des += config_.pos_gain * pos_err;
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// V-shaped gain shedule based on position error
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float abs_pos_err = std::abs(pos_err);
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if (config_.enable_gain_scheduling && abs_pos_err <= config_.gain_scheduling_width) {
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gain_scheduling_multiplier = abs_pos_err / config_.gain_scheduling_width;
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}
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}
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// Velocity limiting
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float vel_lim = config_.vel_limit;
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if (config_.enable_vel_limit) {
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if (vel_des > vel_lim) vel_des = vel_lim;
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if (vel_des < -vel_lim) vel_des = -vel_lim;
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}
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// Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
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if (config_.enable_overspeed_error) { // 0.0f to disable
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if (!vel_estimate_src) {
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set_error(ERROR_INVALID_ESTIMATE);
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return false;
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}
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if (std::abs(*vel_estimate_src) > config_.vel_limit_tolerance * vel_lim) {
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set_error(ERROR_OVERSPEED);
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return false;
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}
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}
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// TODO: Change to controller working in torque units
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// Torque per amp gain scheduling (ACIM)
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float vel_gain = config_.vel_gain;
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float vel_integrator_gain = config_.vel_integrator_gain;
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if (axis_->motor_.config_.motor_type == Motor::MOTOR_TYPE_ACIM) {
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float effective_flux = axis_->motor_.current_control_.acim_rotor_flux;
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float minflux = axis_->motor_.config_.acim_gain_min_flux;
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if (fabsf(effective_flux) < minflux)
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effective_flux = std::copysignf(minflux, effective_flux);
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vel_gain /= effective_flux;
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vel_integrator_gain /= effective_flux;
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// TODO: also scale the integral value which is also changing units.
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// (or again just do control in torque units)
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}
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// Velocity control
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float Iq = current_setpoint_;
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// Anti-cogging is enabled after calibration
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// We get the current position and apply a current feed-forward
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// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
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if (anticogging_valid_ && config_.anticogging.enable) {
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Iq += config_.anticogging.cogging_map[std::clamp(mod(static_cast<int>(anticogging_pos), 3600), 0, 3600)];
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}
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float v_err = 0.0f;
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if (config_.control_mode >= CTRL_MODE_VELOCITY_CONTROL) {
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if (!vel_estimate_src) {
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set_error(ERROR_INVALID_ESTIMATE);
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return false;
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}
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v_err = vel_des - *vel_estimate_src;
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Iq += (vel_gain * gain_scheduling_multiplier) * v_err;
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// Velocity integral action before limiting
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Iq += vel_integrator_current_;
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}
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// Velocity limiting in current mode
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if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL && config_.enable_current_vel_limit) {
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if (!vel_estimate_src) {
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set_error(ERROR_INVALID_ESTIMATE);
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return false;
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}
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Iq = limitVel(config_.vel_limit, *vel_estimate_src, vel_gain, Iq);
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}
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// Current limiting
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// TODO: Change to controller working in torque units
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// and get the torque limits from a function of the motor
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bool limited = false;
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float Ilim = axis_->motor_.effective_current_lim();
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if (Iq > Ilim) {
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limited = true;
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Iq = Ilim;
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}
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if (Iq < -Ilim) {
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limited = true;
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Iq = -Ilim;
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}
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// Velocity integrator (behaviour dependent on limiting)
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if (config_.control_mode < CTRL_MODE_VELOCITY_CONTROL) {
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// reset integral if not in use
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vel_integrator_current_ = 0.0f;
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} else {
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if (limited) {
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// TODO make decayfactor configurable
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vel_integrator_current_ *= 0.99f;
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} else {
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vel_integrator_current_ += ((vel_integrator_gain * gain_scheduling_multiplier) * current_meas_period) * v_err;
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}
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}
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if (current_setpoint_output) *current_setpoint_output = Iq;
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return true;
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}
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