mirror of
https://github.com/scottbez1/smartknob.git
synced 2025-11-04 17:19:40 +08:00
449 lines
16 KiB
C++
449 lines
16 KiB
C++
#include <SimpleFOC.h>
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#include "motor_task.h"
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#if SENSOR_MT6701
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#include "mt6701_sensor.h"
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#endif
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#if SENSOR_TLV
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#include "tlv_sensor.h"
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#endif
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#include "util.h"
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// ####
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// Hardware-specific motor calibration constants.
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// Run calibration once at startup, then update these constants with the calibration results.
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static const float ZERO_ELECTRICAL_OFFSET = 2.77;
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static const Direction FOC_DIRECTION = Direction::CW;
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static const int MOTOR_POLE_PAIRS = 7;
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// ####
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static const float DEAD_ZONE_DETENT_PERCENT = 0.2;
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static const float DEAD_ZONE_RAD = 1 * _PI / 180;
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static const float IDLE_VELOCITY_EWMA_ALPHA = 0.001;
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static const float IDLE_VELOCITY_RAD_PER_SEC = 0.05;
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static const uint32_t IDLE_CORRECTION_DELAY_MILLIS = 500;
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static const float IDLE_CORRECTION_MAX_ANGLE_RAD = 5 * PI / 180;
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static const float IDLE_CORRECTION_RATE_ALPHA = 0.0005;
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MotorTask::MotorTask(const uint8_t task_core) : Task("Motor", 2048, 1, task_core) {
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queue_ = xQueueCreate(5, sizeof(Command));
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assert(queue_ != NULL);
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}
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MotorTask::~MotorTask() {}
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#if SENSOR_TLV
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TlvSensor encoder = TlvSensor();
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#elif SENSOR_MT6701
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MT6701Sensor encoder = MT6701Sensor();
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#endif
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Commander command = Commander(Serial);
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void MotorTask::run() {
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driver.voltage_power_supply = 5;
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driver.init();
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#if SENSOR_TLV
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encoder.init(Wire, false);
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#endif
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#if SENSOR_MT6701
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encoder.init();
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#endif
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motor.linkDriver(&driver);
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motor.controller = MotionControlType::torque;
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motor.voltage_limit = 5;
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motor.velocity_limit = 10000;
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motor.linkSensor(&encoder);
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// Not actually using the velocity loop built into SimpleFOC; but I'm using those PID variables
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// to run PID for torque (and SimpleFOC studio supports updating them easily over serial for tuning)
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motor.PID_velocity.P = 4;
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motor.PID_velocity.I = 0;
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motor.PID_velocity.D = 0.04;
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motor.PID_velocity.output_ramp = 10000;
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motor.PID_velocity.limit = 10;
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motor.init();
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encoder.update();
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delay(10);
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motor.pole_pairs = MOTOR_POLE_PAIRS;
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motor.initFOC(ZERO_ELECTRICAL_OFFSET, FOC_DIRECTION);
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bool calibrate = false;
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Serial.println("Press Y to run calibration");
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uint32_t t = millis();
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while (millis() - t < 3000) {
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if (Serial.read() == 'Y') {
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calibrate = true;
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break;
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}
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delay(10);
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}
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if (calibrate) {
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this->calibrate();
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}
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Serial.println(motor.zero_electric_angle);
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motor.monitor_downsample = 0; // disable monitor at first - optional
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// disableCore0WDT();
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float current_detent_center = motor.shaft_angle;
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KnobConfig config = {
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.num_positions = 2,
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.position = 0,
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.position_width_radians = 60 * _PI / 180,
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.detent_strength_unit = 0,
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};
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float idle_check_velocity_ewma = 0;
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uint32_t last_idle_start = 0;
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uint32_t last_publish = 0;
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while (1) {
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motor.loopFOC();
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// Check queue for pending requests from other tasks
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Command command;
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if (xQueueReceive(queue_, &command, 0) == pdTRUE) {
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switch (command.command_type) {
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case CommandType::CONFIG: {
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// Change haptic input mode
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config = command.data.config;
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Serial.println("Got new config");
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current_detent_center = motor.shaft_angle;
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#if SK_INVERT_ROTATION
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current_detent_center = -motor.shaft_angle;
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#endif
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// Update derivative factor of torque controller based on detent width.
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// If the D factor is large on coarse detents, the motor ends up making noise because the P&D factors amplify the noise from the sensor.
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// This is a piecewise linear function so that fine detents (small width) get a higher D factor and coarse detents get a small D factor.
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// Fine detents need a nonzero D factor to artificially create "clicks" each time a new value is reached (the P factor is small
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// for fine detents due to the smaller angular errors, and the existing P factor doesn't work well for very small angle changes (easy to
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// get runaway due to sensor noise & lag)).
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// TODO: consider eliminating this D factor entirely and just "play" a hardcoded haptic "click" (e.g. a quick burst of torque in each
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// direction) whenever the position changes when the detent width is too small for the P factor to work well.
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const float derivative_lower_strength = config.detent_strength_unit * 0.08;
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const float derivative_upper_strength = config.detent_strength_unit * 0.02;
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const float derivative_position_width_lower = radians(3);
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const float derivative_position_width_upper = radians(8);
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const float raw = derivative_lower_strength + (derivative_upper_strength - derivative_lower_strength)/(derivative_position_width_upper - derivative_position_width_lower)*(config.position_width_radians - derivative_position_width_lower);
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motor.PID_velocity.D = CLAMP(
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raw,
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min(derivative_lower_strength, derivative_upper_strength),
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max(derivative_lower_strength, derivative_upper_strength)
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);
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break;
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}
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case CommandType::HAPTIC: {
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// Play a hardcoded haptic "click"
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float strength = command.data.haptic.press ? 5 : 1.5;
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motor.move(strength);
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for (uint8_t i = 0; i < 3; i++) {
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motor.loopFOC();
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delay(1);
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}
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motor.move(-strength);
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for (uint8_t i = 0; i < 3; i++) {
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motor.loopFOC();
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delay(1);
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}
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motor.move(0);
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motor.loopFOC();
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break;
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}
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}
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}
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// If we are not moving and we're close to the center (but not exactly there), slowly adjust the centerpoint to match the current position
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idle_check_velocity_ewma = motor.shaft_velocity * IDLE_VELOCITY_EWMA_ALPHA + idle_check_velocity_ewma * (1 - IDLE_VELOCITY_EWMA_ALPHA);
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if (fabsf(idle_check_velocity_ewma) > IDLE_VELOCITY_RAD_PER_SEC) {
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last_idle_start = 0;
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} else {
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if (last_idle_start == 0) {
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last_idle_start = millis();
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}
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}
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if (last_idle_start > 0 && millis() - last_idle_start > IDLE_CORRECTION_DELAY_MILLIS && fabsf(motor.shaft_angle - current_detent_center) < IDLE_CORRECTION_MAX_ANGLE_RAD) {
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current_detent_center = motor.shaft_angle * IDLE_CORRECTION_RATE_ALPHA + current_detent_center * (1 - IDLE_CORRECTION_RATE_ALPHA);
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}
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// Check where we are relative to the current nearest detent; update our position if we've moved far enough to snap to another detent
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float angle_to_detent_center = motor.shaft_angle - current_detent_center;
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#if SK_INVERT_ROTATION
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angle_to_detent_center = -motor.shaft_angle - current_detent_center;
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#endif
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if (angle_to_detent_center > config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position > 0)) {
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current_detent_center += config.position_width_radians;
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angle_to_detent_center -= config.position_width_radians;
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config.position--;
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} else if (angle_to_detent_center < -config.position_width_radians * config.snap_point && (config.num_positions <= 0 || config.position < config.num_positions - 1)) {
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current_detent_center -= config.position_width_radians;
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angle_to_detent_center += config.position_width_radians;
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config.position++;
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}
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float dead_zone_adjustment = CLAMP(
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angle_to_detent_center,
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fmaxf(-config.position_width_radians*DEAD_ZONE_DETENT_PERCENT, -DEAD_ZONE_RAD),
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fminf(config.position_width_radians*DEAD_ZONE_DETENT_PERCENT, DEAD_ZONE_RAD));
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bool out_of_bounds = config.num_positions > 0 && ((angle_to_detent_center > 0 && config.position == 0) || (angle_to_detent_center < 0 && config.position == config.num_positions - 1));
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motor.PID_velocity.limit = 10; //out_of_bounds ? 10 : 3;
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motor.PID_velocity.P = out_of_bounds ? config.endstop_strength_unit * 4 : config.detent_strength_unit * 4;
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// Apply motor torque based on our angle to the nearest detent (detent strength, etc is handled by the PID_velocity parameters)
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if (fabsf(motor.shaft_velocity) > 60) {
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// Don't apply torque if velocity is too high (helps avoid positive feedback loop/runaway)
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motor.move(0);
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} else {
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float torque = motor.PID_velocity(-angle_to_detent_center + dead_zone_adjustment);
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#if SK_INVERT_ROTATION
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torque = -torque;
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#endif
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motor.move(torque);
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}
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// Publish current status to other registered tasks periodically
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if (millis() - last_publish > 10) {
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publish({
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.current_position = config.position,
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.sub_position_unit = -angle_to_detent_center / config.position_width_radians,
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.config = config,
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});
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last_publish = millis();
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}
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motor.monitor();
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delay(1);
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}
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}
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void MotorTask::setConfig(const KnobConfig& config) {
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Command command = {
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.command_type = CommandType::CONFIG,
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.data = {
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.config = config,
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}
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};
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xQueueSend(queue_, &command, portMAX_DELAY);
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}
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void MotorTask::playHaptic(bool press) {
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Command command = {
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.command_type = CommandType::HAPTIC,
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.data = {
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.haptic = {
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.press = press,
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},
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}
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};
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xQueueSend(queue_, &command, portMAX_DELAY);
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}
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void MotorTask::addListener(QueueHandle_t queue) {
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listeners_.push_back(queue);
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}
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void MotorTask::publish(const KnobState& state) {
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for (auto listener : listeners_) {
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xQueueOverwrite(listener, &state);
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}
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}
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void MotorTask::calibrate() {
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// SimpleFOC is supposed to be able to determine this automatically (if you omit params to initFOC), but
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// it seems to have a bug (or I've misconfigured it) that gets both the offset and direction very wrong!
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// So this value is based on experimentation.
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// TODO: dig into SimpleFOC calibration and find/fix the issue
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Serial.println("\n\n\nStarting calibration, please do not touch to motor until complete!");
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motor.controller = MotionControlType::angle_openloop;
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motor.pole_pairs = 1;
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motor.initFOC(0, Direction::CW);
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float a = 0;
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// #### Determine direction motor rotates relative to angle sensor
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for (uint8_t i = 0; i < 200; i++) {
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encoder.update();
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motor.move(a);
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delay(1);
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}
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float start_sensor = encoder.getAngle();
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for (; a < 3 * _2PI; a += 0.01) {
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encoder.update();
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motor.move(a);
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delay(1);
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}
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for (uint8_t i = 0; i < 200; i++) {
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encoder.update();
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delay(1);
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}
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float end_sensor = encoder.getAngle();
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motor.voltage_limit = 0;
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motor.move(a);
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Serial.println();
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// TODO: check for no motor movement!
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Serial.print("Sensor measures positive for positive motor rotation: ");
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if (end_sensor > start_sensor) {
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Serial.println("YES, Direction=CW");
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motor.initFOC(0, Direction::CW);
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} else {
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Serial.println("NO, Direction=CCW");
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motor.initFOC(0, Direction::CCW);
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}
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// #### Determine pole-pairs
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// Rotate 20 electrical revolutions and measure mechanical angle traveled, to calculate pole-pairs
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uint8_t electrical_revolutions = 20;
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Serial.printf("Going to measure %d electrical revolutions...\n", electrical_revolutions);
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motor.voltage_limit = 5;
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motor.move(a);
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Serial.println("Going to electrical zero...");
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float destination = a + _2PI;
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for (; a < destination; a += 0.03) {
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encoder.update();
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motor.move(a);
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delay(1);
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}
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Serial.println("pause..."); // Let momentum settle...
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for (uint16_t i = 0; i < 1000; i++) {
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encoder.update();
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delay(1);
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}
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Serial.println("Measuring...");
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start_sensor = motor.sensor_direction * encoder.getAngle();
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destination = a + electrical_revolutions * _2PI;
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for (; a < destination; a += 0.03) {
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encoder.update();
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motor.move(a);
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delay(1);
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}
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for (uint16_t i = 0; i < 1000; i++) {
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encoder.update();
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motor.move(a);
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delay(1);
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}
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end_sensor = motor.sensor_direction * encoder.getAngle();
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motor.voltage_limit = 0;
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motor.move(a);
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if (fabsf(motor.shaft_angle - motor.target) > 1 * PI / 180) {
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Serial.println("ERROR: motor did not reach target!");
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while(1) {}
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}
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float electrical_per_mechanical = electrical_revolutions * _2PI / (end_sensor - start_sensor);
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Serial.print("Electrical angle / mechanical angle (i.e. pole pairs) = ");
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Serial.println(electrical_per_mechanical);
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int measured_pole_pairs = (int)round(electrical_per_mechanical);
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Serial.printf("Pole pairs set to %d\n", measured_pole_pairs);
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delay(1000);
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// #### Determine mechanical offset to electrical zero
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// Measure mechanical angle at every electrical zero for several revolutions
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motor.voltage_limit = 5;
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motor.move(a);
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float offset_x = 0;
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float offset_y = 0;
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float destination1 = (floor(a / _2PI) + measured_pole_pairs / 2.) * _2PI;
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float destination2 = (floor(a / _2PI)) * _2PI;
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for (; a < destination1; a += 0.4) {
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motor.move(a);
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delay(100);
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for (uint8_t i = 0; i < 100; i++) {
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encoder.update();
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delay(1);
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}
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float real_electrical_angle = _normalizeAngle(a);
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float measured_electrical_angle = _normalizeAngle( (float)(motor.sensor_direction * measured_pole_pairs) * encoder.getMechanicalAngle() - 0);
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float offset_angle = measured_electrical_angle - real_electrical_angle;
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offset_x += cosf(offset_angle);
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offset_y += sinf(offset_angle);
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Serial.print(degrees(real_electrical_angle));
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Serial.print(", ");
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Serial.print(degrees(measured_electrical_angle));
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Serial.print(", ");
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Serial.println(degrees(_normalizeAngle(offset_angle)));
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}
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for (; a > destination2; a -= 0.4) {
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motor.move(a);
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delay(100);
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for (uint8_t i = 0; i < 100; i++) {
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encoder.update();
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delay(1);
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}
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float real_electrical_angle = _normalizeAngle(a);
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float measured_electrical_angle = _normalizeAngle( (float)(motor.sensor_direction * measured_pole_pairs) * encoder.getMechanicalAngle() - 0);
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float offset_angle = measured_electrical_angle - real_electrical_angle;
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offset_x += cosf(offset_angle);
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offset_y += sinf(offset_angle);
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Serial.print(degrees(real_electrical_angle));
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Serial.print(", ");
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Serial.print(degrees(measured_electrical_angle));
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Serial.print(", ");
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Serial.println(degrees(_normalizeAngle(offset_angle)));
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}
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motor.voltage_limit = 0;
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motor.move(a);
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float avg_offset_angle = atan2f(offset_y, offset_x);
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// #### Apply settings
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// TODO: save to non-volatile storage
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motor.pole_pairs = measured_pole_pairs;
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motor.zero_electric_angle = avg_offset_angle + _3PI_2;
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motor.voltage_limit = 5;
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motor.controller = MotionControlType::torque;
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Serial.print("\n\nRESULTS:\n Update these constants at the top of " __FILE__ "\n ZERO_ELECTRICAL_OFFSET: ");
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Serial.println(motor.zero_electric_angle);
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Serial.print(" FOC_DIRECTION: ");
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if (motor.sensor_direction == Direction::CW) {
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Serial.println("Direction::CW");
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} else {
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Serial.println("Direction::CCW");
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}
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Serial.printf(" MOTOR_POLE_PAIRS: %d\n", motor.pole_pairs);
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delay(2000);
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}
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