added PseudoSensorControl plus lots of symlinks and organization

lib/PseudoSensorControl.cpp

@@ -0,0 +1,95 @@
+#include "PseudoSensorControl.hpp"
+#include <Arduino.h>
+
+// CONTROLLER CONSTANTS
+float MAX_INTEGRAL_TERM = 1e4;
+
+PinPair pinMap[4] = {{dirFL, pwmFL}, {dirFR, pwmFR}, {dirBL, pwmBL}, {dirBR, pwmBR}};
+
+void PseudoSensorController::update() {
+
+  Left.readMM();
+  Right.readMM();
+  Front.readMM();
+  Back.readMM(); // read and update dists/oor for all sensors.
+
+  oor = Left.oor || Right.oor || Front.oor || Back.oor;
+
+  control();
+
+  for (uint8_t i = 0; i < 4; i++) {
+    PWMs[i] = slewLimit(PWMs[i], Prevs[i]);
+    Prevs[i] = PWMs[i];
+  }
+}
+
+void PseudoSensorController::zeroPWMs() {
+  memset(PWMs, 0, sizeof(PWMs));
+}
+
+void PseudoSensorController::sendOutputs() {
+  if (!outputOn) zeroPWMs();
+
+  for (uint8_t i = 0; i < 4; i++) {
+    // The following assumes 0 direction drives repulsion and 1 direction drives attraction.
+    digitalWrite(pinMap[i].dir, PWMs[i] < 0);
+    analogWrite(pinMap[i].pwm, abs(PWMs[i]));
+  }
+}
+
+void PseudoSensorController::control() {
+  float avg = (Left.mmVal + Right.mmVal + Front.mmVal + Back.mmVal) * 0.25f;
+  float pseudos[4] = {Front.mmVal + Left.mmVal - avg,
+                      Front.mmVal + Right.mmVal - avg,
+                      Back.mmVal + Left.mmVal - avg,
+                      Back.mmVal + Right.mmVal - avg};
+
+  for (uint8_t i = 0; i < 4; i++) {
+    float eCurr = Refs[i] - pseudos[i]; // Above reference is positive error.
+    
+    errors[i].eDiff = (eCurr - errors[i].e); // rise over run
+    errors[i].eInt += eCurr;
+    errors[i].eInt = constrain(errors[i].eInt, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);
+    errors[i].e = eCurr;
+
+    PWMs[i] = pwmFunc(Consts, errors[i]);
+  }
+}
+
+int16_t PseudoSensorController::pwmFunc(K_MAP consts, Errors errs) {
+  if (oor) return 0;
+  Constants constants = (errs.e < 0) ? consts.attracting : consts.repelling;
+  return (int)constrain(constants.K*(errs.e + constants.ki*errs.eInt + constants.kd*errs.eDiff), -(float)CAP,(float)CAP);
+}
+
+int16_t PseudoSensorController::slewLimit(int16_t target, int16_t prev) {
+  int16_t delta = target - prev;
+  if (abs(delta) <= slewRateLimit) return target;
+  return prev + (delta > 0 ? slewRateLimit : -slewRateLimit);
+}
+
+void PseudoSensorController::report() {
+  Serial.print("CONTROL ON - ");
+  Serial.print(outputOn);
+  Serial.print("\n");
+
+  Serial.print("SENSORS - Left: ");
+  Serial.print(Left.mmVal);
+  Serial.print("mm, Right: ");
+  Serial.print(Right.mmVal);
+  Serial.print("mm, Front: ");
+  Serial.print(Front.mmVal);
+  Serial.print("mm, Back: ");
+  Serial.print(Back.mmVal);
+  Serial.print("mm,\n");
+
+  Serial.print("PWMS - FL_PWM: ");
+  Serial.print(PWMs[0]);
+  Serial.print(", FR_PWM: ");
+  Serial.print(PWMs[1]);
+  Serial.print("BL_PWM: ");
+  Serial.print(PWMs[2]);
+  Serial.print("BR_PWM: ");
+  Serial.print(PWMs[3]);
+  Serial.print("\n");
+}

lib/PseudoSensorControl.hpp

@@ -0,0 +1,81 @@
+#ifndef PSEUDOSENSORCONTROLLER_HPP
+#define PSEUDOSENSORCONTROLLER_HPP
+
+#include <stdint.h>
+#include <Vector.h>
+#include "IndSensorMap.hpp"
+
+// PIN MAPPING
+#define dirFR 2
+#define pwmFR 3
+#define dirBR 4
+#define pwmBR 5
+#define pwmFL 6
+#define dirFL 7
+#define dirBL 8
+#define pwmBL 9
+
+typedef struct PinPair {
+  const uint8_t dir;
+  const uint8_t pwm;
+} PinPair;
+
+extern PinPair pinMap[4];
+// FL, FR, BL, BR
+
+#define CAP 200
+
+typedef struct Constants {
+  float K;
+  float ki;
+  float kd;
+} Constants;
+
+typedef struct K_MAP {
+  Constants repelling;
+  Constants attracting;
+} K_MAP;
+
+typedef struct Errors {
+  float e;
+  float eDiff;
+  float eInt;
+} Errors;
+
+class PseudoSensorController {
+  public:
+    bool oor;
+    bool outputOn;
+
+    PseudoSensorController(IndSensor& l, IndSensor& r, IndSensor& f, IndSensor& b,
+      K_MAP consts, float* refs, uint16_t slewRate) : Left(l), Right(r), Front(f),
+      Back(b), Refs(refs), errors{}, Consts(consts), oor(false), outputOn(false),
+      Prevs{}, slewRateLimit(slewRate) {}
+
+    void update();
+    void zeroPWMs();
+    void sendOutputs();
+    void report();
+
+  private:
+    void control();
+    int16_t pwmFunc(K_MAP consts, Errors errs);
+    int16_t slewLimit(int16_t target, int16_t prev);
+
+    IndSensor& Front;
+    IndSensor& Back;
+    IndSensor& Right;
+    IndSensor& Left;
+
+    K_MAP Consts;
+
+    Errors errors[4]; // FL FR BL BR
+
+    float* Refs; // length 4 FL FR BL BR
+    uint16_t slewRateLimit;
+
+    int16_t PWMs[4]; // FL FR BL BR
+
+    int16_t Prevs[4]; // FL FR BL BR
+};
+#endif // PSEUDOSENSORCONTROLLER_HPP