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authorlonkaars <loek@pipeframe.xyz>2023-05-19 13:34:31 +0200
committerlonkaars <loek@pipeframe.xyz>2023-05-19 13:34:31 +0200
commitff7a914055cf851c994ee037342a331902f84a0c (patch)
tree790f9398aa23bb526f93787bb3af73a426877e76
parent2ed0ea4f12a5532092428f57e040f2cefb5fb973 (diff)
add pidtest
-rw-r--r--zumo/.gitignore1
-rw-r--r--zumo/pid.cpp44
-rw-r--r--zumo/pid.h13
-rw-r--r--zumo/pidtest.cpp35
-rw-r--r--zumo/pidtest.mk21
5 files changed, 91 insertions, 23 deletions
diff --git a/zumo/.gitignore b/zumo/.gitignore
index d3e1535..888e905 100644
--- a/zumo/.gitignore
+++ b/zumo/.gitignore
@@ -3,3 +3,4 @@ main
*.hex
compile_commands.json
.cache
+pidtest
diff --git a/zumo/pid.cpp b/zumo/pid.cpp
index 594d136..9bef08f 100644
--- a/zumo/pid.cpp
+++ b/zumo/pid.cpp
@@ -1,35 +1,33 @@
#include "pid.h"
-class PID {
-private:
- float A0, A1, A2;
- float error[3] = {0};
- float dt = 0.010;
- float output = 0;
+PID::PID(float P, float I, float D) {
+ A0 = P + I*dt + D/dt;
+ A1 = -P - 2*D/dt;
+ A2 = D/dt;
+}
-public:
- PID(float P, float I, float D) {
- A0 = P + I*dt + D/dt;
- A1 = -P - 2*D/dt;
- A2 = D/dt;
- }
+// https://en.wikipedia.org/wiki/PID_controller#Pseudocode
+float PID::iter(float target) {
+ error[2] = error[1];
+ error[1] = error[0];
+ error[0] = target - output;
+ output = output + A0 * error[0] + A1 * error[1] + A2 * error[2];
+ return output;
+}
- // https://en.wikipedia.org/wiki/PID_controller#Pseudocode
- float iter(float current, float target) {
- error[2] = error[1];
- error[1] = error[0];
- error[0] = target - current;
- output = output + A0 * error[0] + A1 * error[1] + A2 * error[2];
- return output;
- }
-};
+void PID::reset(float value) {
+ error[0] = 0.0;
+ error[1] = 0.0;
+ error[2] = 0.0;
+ output = value;
+}
PID speed_pid(0.1, 0.0, 0.0); // TODO: tune these (garbage values)
PID steer_pid(0.1, 0.0, 0.0);
PID speed_mod_pid(1, 1, 1);
void apply_pid(dui_state_t* target, dui_state_t* current) {
- current->speed = speed_pid.iter(current->speed, target->speed);
- current->steer = steer_pid.iter(current->steer, target->steer);
+ current->speed = speed_pid.iter(target->speed);
+ current->steer = steer_pid.iter(target->steer);
// current->speed_mod = speed_mod_pid.iter(current->speed_mod, target->speed_mod);
current->speed_mod = target->speed_mod;
}
diff --git a/zumo/pid.h b/zumo/pid.h
index 2cdbc91..fbcd063 100644
--- a/zumo/pid.h
+++ b/zumo/pid.h
@@ -2,6 +2,19 @@
#include "protocol.h"
+class PID {
+private:
+ float A0, A1, A2;
+ float error[3] = {0};
+ float dt = 0.010;
+ float output = 0;
+
+public:
+ PID(float P, float I, float D);
+ float iter(float target);
+ void reset(float value);
+};
+
/** @brief edit `current` to be closer to `target` using PID controllers */
void apply_pid(dui_state_t* target, dui_state_t* current);
diff --git a/zumo/pidtest.cpp b/zumo/pidtest.cpp
new file mode 100644
index 0000000..f5198bb
--- /dev/null
+++ b/zumo/pidtest.cpp
@@ -0,0 +1,35 @@
+#include <cstdio>
+#include <random>
+
+#include "pid.h"
+
+std::random_device rd;
+std::mt19937 rng(rd());
+std::uniform_real_distribution<float> uni(0,13);
+
+auto random_integer = uni(rng);
+
+int main() {
+ float P, I, D;
+ do {
+ // P = uni(rng);
+ // I = uni(rng);
+ // D = uni(rng);
+ P = 10;
+ I = 0.1;
+ D = 10;
+ PID test(P, I, D);
+ test.reset(0.0);
+
+ float val = 0;
+ for (unsigned int i = 0; i < 100; i++) val = test.iter(1.0);
+ // if (val > 0.999 && val < 1.001) {
+ fprintf(stderr, "P: %.3f :: I: %.3f :: D: %.3f\n", P, I, D);
+ test.reset(0.0);
+ for (unsigned int i = 0; i < 100; i++) {
+ printf("%2.8f\n", test.iter(1.0));
+ }
+ exit(0);
+ // }
+ } while (false);
+}
diff --git a/zumo/pidtest.mk b/zumo/pidtest.mk
new file mode 100644
index 0000000..5ffe1e1
--- /dev/null
+++ b/zumo/pidtest.mk
@@ -0,0 +1,21 @@
+CPP = g++
+LD = g++
+RM = rm -f
+CFLAGS =
+LFLAGS =
+TARGET = pidtest
+
+SRCS := pidtest.cpp pid.cpp
+OBJS := pidtest.o pid.o
+
+all: pidtest
+
+%.o: %.cpp
+ $(CPP) -c $(CFLAGS) $< -o $@
+
+$(TARGET): $(OBJS)
+ $(LD) $^ $(LFLAGS) -o $@
+
+clean:
+ $(RM) $(TARGET) $(OBJS)
+