adipu/guadaloop_lev_control
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we might be cooked man

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This commit is contained in:
pulipakaa24
2025-11-30 19:05:57 -06:00
parent 138c04f7a1
commit 0580c44aa3
10 changed files with 1130 additions and 57 deletions
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11
lib/Controller.hpp
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@@ -45,7 +45,7 @@ class FullController {
bool outputOn;
FullController(IndSensor& l, IndSensor& r, IndSensor& f, IndSensor& b,
FullConsts fullConsts, float avgRef, float lrDiffRef, float fbDiffRef, float slewRate)
FullConsts fullConsts, float avgRef, float lrDiffRef, float fbDiffRef)
: Left(l), Right(r), Front(f), Back(b), AvgRef(avgRef), LRDiffRef(lrDiffRef),
FBDiffRef(fbDiffRef), avgConsts(fullConsts.avg), LConsts(fullConsts.lColl),
FConsts(fullConsts.fColl), avgError({0,0,0}), LRDiffErr({0,0,0}),
@@ -55,13 +55,20 @@ class FullController {
void zeroPWMs();
void sendOutputs();
void report();
// PID tuning methods
void updateAvgPID(Constants repel, Constants attract);
void updateLRPID(Constants down, Constants up);
void updateFBPID(Constants down, Constants up);
// Reference update methods
void updateReferences(float avgReference, float lrDiffReference, float fbDiffReference);
private:
void avgControl();
void LRControl();
void FBControl();
int16_t pwmFunc(K_MAP consts, Errors errs);
int16_t slewLimit(int16_t target, int16_t prev);
IndSensor& Front;
IndSensor& Back;