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vs_wrc201_motor.py
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vs_wrc201_motor.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#このライブラリは、VS-WRC201のモータを制御するためのものです。
import time
import math
import numpy as np
class VsWrc201Motor:
ROVER_D = 0.0717767
TIRE_CIRCUMFERENCE = 60*math.pi/1000
ENC_COUNTS_PER_TURN = 1188.024
ENC_PER_M = ENC_COUNTS_PER_TURN/TIRE_CIRCUMFERENCE
std_motor_param = [0.5, math.pi, 520.0, 3.6, 2.0, 3.6, 30.0, 127.0, 1.5]
motor_param = [0.5, math.pi, 520.0, 3.6, 2.0, 3.6, 30.0, 127.0, 1.5]
ctl_v_com = [0.0, 0.0]
v_com = [0.0, 0.0]
m_com = [0.0, 0.0]
enc = [0, 0]
old_enc = [0, 0]
sum_v = [[0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0]]
avr_v = [0.0, 0.0]
old_micros = 0
MIN_OUTPUT = 2500
v_enc = [0.0, 0.0]
v_diff = [0.0, 0.0]
prev_v_diff = [0.0, 0.0]
prev2_v_diff = [0.0, 0.0]
prev_m = [0, 0]
buf_enc_com = [0.0, 0.0]
KP_NORMAL = 0x08000800
KP_ZERO = 0x00000000
M_L = 1
M_R = 0
MOTOR_LIST_F_L = 0
MOTOR_LIST_F_R = 1
MOTOR_LIST_R_L = 2
MOTOR_LIST_R_R = 3
INDEX_MAX_SPEED = 0
INDEX_MAX_RAD = 1
INDEX_K_V2MP = 2
INDEX_K_P = 3
INDEX_K_I = 4
INDEX_K_D = 5
INDEX_PAD_DEAD = 6
INDEX_PAD_MAX = 7
INDEX_MAX_ACC = 8
pre_t_calc_2_v = -1.0
old_micros = 0.0
pre_t_pos_ctl = -1.0
pid_time = 0.0
def calc_2_v(self,x_speed,z_speed):
mem_com_x = float(x_speed)
mem_com_z = float(z_speed)
self.set_motor_param_2_std()
self.ctl_v_com[M_L] = (mem_com_x - self.ROVER_D*mem_com_z)
self.ctl_v_com[M_R] = -1.0 * (mem_com_x + self.ROVER_D*mem_com_z)
if(math.fabs(self.ctl_v_com[M_L]) > self.motor_param[self.MAX_SPEED] or
math.fabs(self.ctl_v_com[M_R]) > self.motor_param[self.MAX_SPEED]):
ctl_v_com_max = math.fabs(self.ctl_v_com[0])
for i in range(2):
if(ctl_v_com_max < math.fabs(self.ctl_v_com[i])):
ctl_v_com_max = math.fabs(self.ctl_v_com[i])
for i in range(2):
self.ctl_v_com[i] /= (ctl_v_com_max/self.motor_param[self.MAX_SPEED])
return self.ctl_v_com
def ctl_2_v_com(self):
v_diff = [0.0, 0.0]
for i in range(2):
v_diff[i] = self.ctl_v_com[i] - self.v_com[i]
max_v_diff = math.fabs(v_diff[self.M_L])
for i in range(2):
if(math.fabs(v_diff[i]) > max_v_diff):
max_v_diff = math.fabs(v_diff[i])
if(self.pre_t_calc_2_v < 0):
self.pre_t_calc_2_v = time.time()
new_micros = time.time()
elapsed_time = new_micros - self.pre_t_calc_2_v
add_v = 0.0
if(max_v_diff != 0.0):
for i in range(2):
add_v = ((self.motor_param[self.INDEX_MAX_ACC] * (v_diff[i]/max_v_diff)*elapsed_time))
if(math.fabs(v_diff[i]) >= math.fabs(add_v)):
self.v_com[i] = self.v_com[i] + add_v
else:
self.v_com[i] = self.ctl_v_com[i]
for i in range(2):
if(self.ctl_v_com[i] == 0.0 and math.fabs(self.v_com[i]) <= 0.02):
self.v_com[i] = 0.0
self.pre_t_calc_2_v = new_micros
def set_motor_param_2_std(self):
for i in range(7):
self.motor_param[i] = self.std_motor_param[i]
def pid_controll(self, rover_v, target_v):
if(time.time()-self.pid_time < 10.0/1000000):
return
self.pid_time = time.time()
self.v_enc = rover_v
self.ctl_v_com = target_v
self.ctl_2_v_com()
for i in range(2):
if(math.fabs(self.v_enc[i]) > 2 * self.motor_param[self.INDEX_MAX_SPEED]):
self.v_enc[i] = self.sum_v[i][0]
for j in range(4,0,-1):
self.sum_v[i][4] += self.sum_v[i][j-1]
self.sum_v[i][j] = self.sum_v[i][j-1]
self.sum_v[i][4] += self.v_enc[i]
self.avr_v[i] = self.sum_v[i][4]/5.0
self.sum_v[i][0] = self.v_enc[i]
self.v_diff[i] = self.v_com[i] - self.avr_v[i]
self.m_com[i] = self.prev_m[i] + int((self.v_diff[i]*self.motor_param[self.INDEX_K_I]
+ (self.v_diff[i]-self.prev_v_diff[i])*self.motor_param[self.INDEX_K_P]
+ ((self.v_diff[i]-self.prev_v_diff[i])-(self.prev_v_diff[i]-self.prev2_v_diff[i]))*self.motor_param[self.INDEX_K_D])
* self.motor_param[self.INDEX_K_V2MP])
if((math.fabs(target_v[i]) >= 0.05) and (math.fabs(self.m_com[i]) <= self.MIN_OUTPUT)):
if(target_v[i] < 0):
self.m_com[i] = -1.0 * self.MIN_OUTPUT
else:
self.m_com[i] = self.MIN_OUTPUT
if(self.m_com[i] > 5000):
self.m_com[i] = 5000
elif(self.m_com[i] < -5000):
self.m_com[i] = -5000
self.prev2_v_diff[i] = self.prev_v_diff[i]
self.prev_v_diff[i] = self.v_diff[i]
self.prev_m[i] = self.m_com[i]
if(self.v_com[self.M_L] == 0.0 and self.v_com[self.M_R] == 0.0
and math.fabs(self.avr_v[self.M_L]) < 0.05 and math.fabs(self.avr_v[self.M_R]) < 0.05):
self.m_com[self.M_L] = 0
self.m_com[self.M_R] = 0
self.prev_m[self.M_L] = 0
self.prev_m[self.M_R] = 0
return self.m_com
def pos_controll(self, rover_v, target_v):
self.v_enc = rover_v
self.ctl_v_com = target_v
self.ctl_2_v_com()
e_v_com = [0.0, 0.0] #速度指令値[ecnt/sec]
e_v_com[self.M_L] = self.v_com[self.M_L]*self.ENC_PER_M
e_v_com[self.M_R] = self.v_com[self.M_R]*self.ENC_PER_M
if(self.pre_t_pos_ctl < 0):
self.pre_t_pos_ctl = time.time()
new_micros = time.time()
elapsed_time = new_micros - self.pre_t_pos_ctl
self.pre_t_pos_ctl = new_micros
self.buf_enc_com[self.M_L] += (e_v_com[self.M_L]*elapsed_time)
self.buf_enc_com[self.M_R] += (e_v_com[self.M_R]*elapsed_time)
enc_com = [0, 0]
enc_com[self.M_L] = int(self.buf_enc_com[self.M_L])
enc_com[self.M_R] = int(self.buf_enc_com[self.M_R])
self.buf_enc_com[self.M_L] -= enc_com[self.M_L]
self.buf_enc_com[self.M_R] -= enc_com[self.M_R]
return enc_com