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mecanum: refactor code architecture
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chfriedrich98
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chfriedrich98
chfriedrich98
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commit
7c63468e8b
@@ -3,47 +3,17 @@ module_name: Rover Mecanum
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parameters:
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- group: Rover Mecanum
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definitions:
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RM_WHEEL_TRACK:
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description:
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short: Wheel track
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long: Distance from the center of the right wheels to the center of the left wheels.
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type: float
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unit: m
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min: 0.001
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max: 100
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increment: 0.001
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decimal: 3
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default: 0.5
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RM_MAX_YAW_RATE:
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description:
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short: Maximum allowed yaw rate for the rover.
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long: |
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This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.
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type: float
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unit: deg/s
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min: 0.01
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max: 1000
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increment: 0.01
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decimal: 2
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default: 90
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RM_MAX_YAW_ACCEL:
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description:
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short: Maximum allowed yaw acceleration for the rover
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long: |
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This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints
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to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change.
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This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track.
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Set to -1 to disable.
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type: float
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unit: deg/s^2
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min: -1
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max: 1000
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increment: 0.01
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decimal: 2
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default: -1
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description:
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short: Wheel track
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long: Distance from the center of the right wheel to the center of the left wheel.
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type: float
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unit: m
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min: 0
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max: 100
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increment: 0.001
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decimal: 3
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default: 0
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RM_MAX_THR_YAW_R:
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description:
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@@ -52,7 +22,7 @@ parameters:
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This parameter is used to calculate the feedforward term of the closed loop yaw rate control.
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The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate.
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This desired speed difference is then linearly mapped to normalized motor commands.
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A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)).
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A good starting point is half the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)).
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Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.
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type: float
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unit: m/s
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@@ -60,149 +30,37 @@ parameters:
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max: 100
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increment: 0.01
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decimal: 2
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default: 2
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RM_YAW_RATE_P:
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description:
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short: Proportional gain for the closed-loop yaw rate controller.
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1
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RM_YAW_RATE_I:
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description:
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short: Integral gain for the closed-loop yaw rate controller.
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0
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RM_YAW_P:
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RM_MISS_SPD_GAIN:
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description:
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short: Proportional gain for closed loop yaw controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1
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RM_YAW_I:
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description:
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short: Integral gain for closed loop yaw controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.1
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RM_MAX_SPEED:
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description:
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short: Maximum speed the rover is allowed to drive
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short: Tuning parameter for the speed reduction during waypoint transition
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long: |
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This parameter is used cap the maximum speed the rover is allowed to drive
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and to map stick inputs to desired speeds in position mode.
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The waypoint transition speed is calculated as:
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Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN)
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The normalized transition angle is the angle between the line segment from prev-curr waypoint and
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curr-next waypoint interpolated from [0, 180] -> [0, 1].
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Higher value -> More speed reduction during waypoint transitions.
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Set to -1 to disable any speed reduction during waypoint transition.
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type: float
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unit: m/s
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 7
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RM_MAX_THR_SPD:
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description:
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short: Speed the rover drives at maximum throttle
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long: |
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This parameter is used to calculate the feedforward term of the closed loop speed control which linearly
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maps desired speeds to normalized motor commands [-1. 1].
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A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode.
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Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.
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type: float
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unit: m/s
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 1
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RM_SPEED_P:
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description:
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short: Proportional gain for speed controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 3
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default: 1
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RM_SPEED_I:
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description:
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short: Integral gain for ground speed controller
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type: float
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min: 0
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max: 100
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increment: 0.01
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decimal: 3
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default: 0
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RM_MAX_JERK:
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description:
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short: Maximum jerk
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long: Limit for forwards acc/deceleration change.
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type: float
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unit: m/s^3
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.5
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RM_MAX_ACCEL:
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description:
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short: Maximum acceleration
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long: Maximum acceleration is used to limit the acceleration of the rover
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type: float
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unit: m/s^2
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min: 0
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max: 100
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increment: 0.01
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decimal: 2
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default: 0.5
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RM_MAX_DECEL:
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description:
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short: Maximum deceleration
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long: |
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Maximum decelaration is used to limit the deceleration of the rover.
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Set to -1 to disable, causing the rover to decelerate as fast as possible.
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Caution: Disabling the deceleration limit also disables the slow down effect in auto modes.
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type: float
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unit: m/s^2
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min: -1
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max: 100
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increment: 0.01
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decimal: 2
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default: -1
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RM_MISS_VEL_GAIN:
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RM_COURSE_CTL_TH:
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description:
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short: Tuning parameter for the velocity reduction during waypoint transition
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short: Threshold to update course control in manual position mode
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long: |
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The waypoint transition speed is calculated as:
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Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN)
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The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP
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interpolated from [0, 180] -> [0, 1].
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Higher value -> More velocity reduction during cornering.
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Threshold for the angle between the active cruise direction and the cruise direction given
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by the stick inputs.
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This can be understood as a deadzone for the combined stick inputs for forward/backwards
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and lateral speed which defines a course direction.
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type: float
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min: 0.05
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max: 100
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unit: rad
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min: 0
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max: 3.14
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increment: 0.01
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decimal: 2
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default: 1
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default: 0.17
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