Removed min step condition as it was interferring with the I-gain fro…

…m the controller
ChrGri · Sep 18, 2023 · d702bfb · d702bfb
1 parent b4c5276
commit d702bfb
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Showing 11 changed files with 11,196 additions and 57,382 deletions.
diff --git a/Arduino/Esp32/Main/Main.ino b/Arduino/Esp32/Main/Main.ino
@@ -165,7 +165,7 @@ LoadCell_ADS1256* loadcell = NULL;
 
 #include "StepperWithLimits.h"
 StepperWithLimits* stepper = NULL;
-static const int32_t MIN_STEPS = 5;
+//static const int32_t MIN_STEPS = 5;
 
 #include "StepperMovementStrategy.h"
 
@@ -544,9 +544,9 @@ void pedalUpdateTask( void * pvParameters )
 
     // get current stepper position right before sheduling a new move
     //int32_t stepperPosCurrent = stepper->getCurrentPositionSteps();
-    int32_t stepperPosCurrent = stepper->getTargetPositionSteps();
-    int32_t movement = abs(stepperPosCurrent - Position_Next);
-    if (movement > MIN_STEPS)
+    //int32_t stepperPosCurrent = stepper->getTargetPositionSteps();
+    //int32_t movement = abs(stepperPosCurrent - Position_Next);
+    //if (movement > MIN_STEPS)
     {
       stepper->moveTo(Position_Next, false);
     }

diff --git a/Arduino/Esp32/Main/StepperMovementStrategy.h b/Arduino/Esp32/Main/StepperMovementStrategy.h
@@ -66,6 +66,11 @@ int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, Ste
     //turn the PID on
     myPID.SetTunings(Kp, Ki, Kd);
     myPID.SetMode(myPID.Control::automatic);
+    //myPID.SetAntiWindupMode(myPID.iAwMode::iAwCondition);
+    myPID.SetAntiWindupMode(myPID.iAwMode::iAwClamp);
+    //myPID.SetAntiWindupMode(myPID.iAwMode::iAwOff);
+
+
     pidWasInitialized = true;
     myPID.SetSampleTimeUs(PUT_TARGET_CYCLE_TIME_IN_US);
     myPID.SetOutputLimits(-1.0,0.0);
@@ -86,20 +91,26 @@ int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, Ste
 
   // clip to min & max force to prevent Ki to overflow
   float loadCellReadingKg_clip = constrain(loadCellReadingKg, calc_st->Force_Min, calc_st->Force_Max);
-
+  float loadCellTargetKg_clip = constrain(loadCellTargetKg, calc_st->Force_Min, calc_st->Force_Max);
+
+
   // normalize input & setpoint
   //Setpoint = (loadCellReadingKg_clip - calc_st.Force_Min) / calc_st.Force_Range;
   //Input = (loadCellTargetKg - calc_st.Force_Min) / calc_st.Force_Range; 
 
-  Setpoint = (loadCellTargetKg - calc_st->Force_Min) / calc_st->Force_Range;
+  Setpoint = (loadCellTargetKg_clip - calc_st->Force_Min) / calc_st->Force_Range;
   Input = (loadCellReadingKg_clip - calc_st->Force_Min) / calc_st->Force_Range; 
 
   // compute PID output
   myPID.Compute();
 
   // unnormalize output
-  int32_t posStepperNew = -1.0 * Output * (calc_st->stepperPosMax - calc_st->stepperPosMin);//stepper->getTravelSteps();
-  posStepperNew += calc_st->stepperPosMin;
+  //int32_t posStepperNew = -1.0 * Output * (float)(calc_st->stepperPosMax - calc_st->stepperPosMin);//stepper->getTravelSteps();
+  //posStepperNew += calc_st->stepperPosMin;
+
+  float posStepperNew_fl32 = -1.0 * Output * (float)(calc_st->stepperPosMax - calc_st->stepperPosMin);//stepper->getTravelSteps();
+  posStepperNew_fl32 += calc_st->stepperPosMin;
+  int32_t posStepperNew = floor(posStepperNew_fl32);
 
   //#define PLOT_PID_VALUES
   #ifdef PLOT_PID_VALUES

diff --git a/Arduino/Esp32/bin_s2_mini/Main.ino.bin → ...ld/esp32.esp32.lolin_s2_mini/Main.ino.bin b/Arduino/Esp32/bin_s2_mini/Main.ino.bin → ...ld/esp32.esp32.lolin_s2_mini/Main.ino.bin
diff --git a/...Esp32/bin_s2_mini/Main.ino.bootloader.bin → ...p32.lolin_s2_mini/Main.ino.bootloader.bin b/...Esp32/bin_s2_mini/Main.ino.bootloader.bin → ...p32.lolin_s2_mini/Main.ino.bootloader.bin
diff --git a/Arduino/Esp32/bin_s2_mini/Main.ino.elf → ...ld/esp32.esp32.lolin_s2_mini/Main.ino.elf b/Arduino/Esp32/bin_s2_mini/Main.ino.elf → ...ld/esp32.esp32.lolin_s2_mini/Main.ino.elf
diff --git a/...Esp32/bin_s2_mini/Main.ino.partitions.bin → ...p32.lolin_s2_mini/Main.ino.partitions.bin b/...Esp32/bin_s2_mini/Main.ino.partitions.bin → ...p32.lolin_s2_mini/Main.ino.partitions.bin
diff --git a/Arduino/Esp32/arduinoCliBuildScript.sh b/Arduino/Esp32/arduinoCliBuildScript.sh
@@ -2,4 +2,4 @@
 # for Arduino-cli help, see https://arduino.github.io/arduino-cli/0.33/commands/arduino-cli_compile/
 
 
-arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir Arduino/Esp32/bin Arduino/Esp32/Main/.
+arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir bin Main/.
diff --git a/Arduino/Esp32/bin/Main.ino.bin b/Arduino/Esp32/bin/Main.ino.bin
diff --git a/Arduino/Esp32/bin/Main.ino.elf b/Arduino/Esp32/bin/Main.ino.elf
diff --git a/Arduino/Esp32/bin/Main.ino.map b/Arduino/Esp32/bin/Main.ino.map
diff --git a/Arduino/Esp32/bin_s2_mini/Main.ino.map b/Arduino/Esp32/bin_s2_mini/Main.ino.map
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 +2,4 @@
		# for Arduino-cli help, see https://arduino.github.io/arduino-cli/0.33/commands/arduino-cli_compile/


		arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir Arduino/Esp32/bin Arduino/Esp32/Main/.
		arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir bin Main/.