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This commit is contained in:
Oleg Kalachev 2023-05-26 16:46:22 +03:00
parent 88cc792287
commit f84d1e95dd
5 changed files with 18 additions and 47 deletions
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15
flix/cli.ino
View File

@ -5,10 +5,6 @@
#include "pid.h"
static String command;
static String value;
static bool parsingCommand = true;
extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
const char* motd =
@ -34,8 +30,6 @@ const char* motd =
"fullmot <n> - test motor on all signals\n"
"wifi - start wi-fi access point\n";
bool showMotd = true;
static const struct Param {
const char* name;
float* value;
@ -57,7 +51,7 @@ static const struct Param {
// {"m", &mode, nullptr},
};
static void doCommand()
static void doCommand(String& command, String& value)
{
if (command == "help" || command == "motd") {
Serial.println(motd);
@ -138,6 +132,11 @@ static void cliTestMotor(uint8_t n)
void parseInput()
{
static bool showMotd = true;
static String command;
static String value;
static bool parsingCommand = true;
if (showMotd) {
Serial.println(motd);
showMotd = false;
@ -148,7 +147,7 @@ void parseInput()
if (c == '\n') {
parsingCommand = true;
if (!command.isEmpty()) {
doCommand();
doCommand(command, value);
}
command.clear();
value.clear();

1
flix/flix.ino
View File

@ -26,7 +26,6 @@ float dt; // time delta from previous step, s
float loopFreq; // loop frequency, Hz
uint16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
uint32_t rcFailSafe, rcLostFrame;
float motors[4]; // normalized motors thrust in range [-1..1]
Vector rates; // angular rates, rad/s
Vector acc; // accelerometer data, m/s/s

39
flix/motors.ino
View File

@ -1,46 +1,25 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// https://habr.com/ru/company/first/blog/664922/
// esc: https://aliexpress.com/item/4000280617058.html (KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V)
// motor: https://aliexpress.com/item/32731613504.html (8520 3.7V)
// Motors output
// Motor: 8520 3.7V
// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V
#define MOTOR_0_PIN 12
#define MOTOR_1_PIN 13
#define MOTOR_2_PIN 14
#define MOTOR_3_PIN 15
// #define PWM_FREQUENCY 200
// #define PWM_FREQUENCY 50 // TODO: way low frequency considering the IMU is 1kHz
#define PWM_FREQUENCY 200 // WARNING: original 50
#define PWM_FREQUENCY 200
#define PWM_RESOLUTION 8
// #define PWM_MIN 1575
// #define PWM_MAX 2300
#define PWM_NEUTRAL 1500
// #define PWM_REVERSE_MAX 700
// #define PWM_REVERSE_MIN 1425
// static const uint16_t pwmMin[] = {1600-50, 1600-50, 1600-50, 1600-50};
// static const uint16_t pwmMax[] = {2100, 2300, 2000, 2000}; // NOTE: ORIGINAL
static const uint16_t pwmMin[] = {1600, 1600, 1600, 1600}; // NOTE: success
// static const uint16_t pwmMax[] = {2000, 2000, 2000, 2000}; // NOTE: success
static const uint16_t pwmMin[] = {1600, 1600, 1600, 1600};
static const uint16_t pwmMax[] = {2300, 2300, 2300, 2300};
// from esc description
// static const uint16_t pwmMin[] = {1600, 1600, 1600, 1600};
// static const uint16_t pwmMax[] = {2300, 2300, 2300, 2300};
// static const uint16_t pwmReverseMin[] = {1420+50, 1440+50, 1440+50, 1440+50};
// static const uint16_t pwmReverseMin[] = {1420, 1440, 1440, 1440};
// static const uint16_t pwmReverseMax[] = {700, 1100, 1100, 1100}; // NOTE: ???
static const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440};
static const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
bool useBreak; // TODO: redesign
void setupMotors() {
Serial.println("Setup Motors");
@ -56,12 +35,6 @@ void setupMotors() {
ledcAttachPin(MOTOR_2_PIN, 2);
ledcAttachPin(MOTOR_3_PIN, 3);
// send initial break to initialize ESCs
// Serial.println("Calibrating ESCs");
// useBreak = true;
// sendMotors();
// delay(2000);
// useBreak = false;
sendMotors();
Serial.println("Motors initialized");
}
@ -69,7 +42,7 @@ void setupMotors() {
static uint16_t getPWM(float val, int n)
{
if (val == 0) {
return PWM_NEUTRAL; // useBreak ? PWM_NEUTRAL : 0;
return PWM_NEUTRAL;
} else if (val > 0) {
return mapff(val, 0, 1, pwmMin[n], pwmMax[n]);
} else {

4
flix/rc.ino
View File

@ -18,8 +18,8 @@ void readRC()
{
bool failSafe, lostFrame;
if (RC.read(channels, &failSafe, &lostFrame)) {
if (failSafe) { rcFailSafe++; return; } // TODO: NOT TESTED YET
if (lostFrame) { rcLostFrame++; return; }
if (failSafe) { return; } // TODO:
if (lostFrame) { return; }
normalizeRC();
}
}

6
gazebo/Arduino.h
View File

@ -36,9 +36,9 @@ class __FlashStringHelper;
// https://www.arduino.cc/reference/en/language/variables/data-types/stringobject/
class String: public std::string {
public:
long toInt() { return atol(this->c_str()); }
float toFloat() { return atof(this->c_str()); }
bool isEmpty() { return this->empty(); }
long toInt() const { return atol(this->c_str()); }
float toFloat() const { return atof(this->c_str()); }
bool isEmpty() const { return this->empty(); }
};
class Print;