restructuring

embedded/lib/PseudoSensorControl.cpp

@@ -0,0 +1,123 @@
+#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();
+
+  // Using direct register writes to maintain fast PWM mode set by setupFastPWM()
+  // FL: Pin 11 -> Timer 2A
+  digitalWrite(dirFL, PWMs[0] < 0);
+  OCR2A = abs(PWMs[0]);
+  
+  // FR: Pin 3 -> Timer 2B
+  digitalWrite(dirFR, PWMs[1] < 0);
+  OCR2B = abs(PWMs[1]);
+  
+  // BL: Pin 9 -> Timer 1A
+  digitalWrite(dirBL, PWMs[2] < 0);
+  OCR1A = abs(PWMs[2]);
+  
+  // BR: Pin 10 -> Timer 1B
+  digitalWrite(dirBR, PWMs[3] < 0);
+  OCR1B = abs(PWMs[3]);
+}
+
+void PseudoSensorController::control() {
+  float avg = (Left.mmVal + Right.mmVal + Front.mmVal + Back.mmVal) * 0.25f;
+  float pseudos[4] = {Front.mmVal + Left.mmVal - avg, // FL
+                      Front.mmVal + Right.mmVal - avg, // FR
+                      Back.mmVal + Left.mmVal - avg, // BL
+                      Back.mmVal + Right.mmVal - avg}; // BR
+
+  for (uint8_t i = 0; i < 4; i++) {
+    float eCurr = Refs[i] - pseudos[i];
+    errors[i].eDiff = (eCurr - errors[i].e);
+    
+    // Only integrate when not out of range
+    if (!oor) {
+      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.kp*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("OOR - Left: ");
+  Serial.print(Left.oor);
+  Serial.print(", Right: ");
+  Serial.print(Right.oor);
+  Serial.print(", Front: ");
+  Serial.print(Front.oor);
+  Serial.print(", Back: ");
+  Serial.print(Back.oor);
+  Serial.print(",\n");
+
+  Serial.print("Overall OOR: ");
+  Serial.println(oor);
+
+  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");
+}