guldenst/projet_voilier
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increase adaptability and understandability of incremental incoder to

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sail angle
This commit is contained in:
Jasper Güldenstein 2020-11-15 16:57:02 +01:00
parent 779b5cfaf1
commit a4c1eaa559
5 changed files with 38 additions and 21 deletions
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27
keil_project/Services/IncrEncoder.c
View file

@ -7,13 +7,11 @@
#include "stm32f1xx_ll_exti.h"
#include "stm32f1xx_ll_tim.h"
#define RESOLUTION 1
#define ANGLE_DEBUT 45
#define INCR_ENCODER_MID_VALUE 719
#define ZERO_POSITION 0
#define TICKS_PER_REVOLUTION 360*4
#define DEGREE_PER_TICKS 0.25
int index_passed = 0;
int counts_per_revolution = 360;
void INCR_ENCODER_Init(void){
@ -33,7 +31,7 @@ void INCR_ENCODER_Init(void){
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
LL_TIM_InitTypeDef tim3_init_struct;
tim3_init_struct.Autoreload= counts_per_revolution*4-1;
tim3_init_struct.Autoreload= TICKS_PER_REVOLUTION-1;
tim3_init_struct.Prescaler=0;
tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
@ -101,17 +99,12 @@ int INCR_ENCODER_IsAbsolute(void)
return index_passed;
};
int INCR_ENCODER_GetAngle(void)
float INCR_ENCODER_GetAngle(void)
{
int counter_value = LL_TIM_ReadReg(TIM3, CNT);
float vabs = abs(counter_value-INCR_ENCODER_MID_VALUE);
float vIEAngleDebut = INCR_ENCODER_MID_VALUE -(ANGLE_DEBUT*4);
float nbIncrements = 90/RESOLUTION;
if(vabs > vIEAngleDebut)
{
return 0;
}else{
return 90 - RESOLUTION*floor(vabs/(vIEAngleDebut/nbIncrements) ) ;
}
// center
int centered_counter_value = (counter_value - ZERO_POSITION) % TICKS_PER_REVOLUTION;
// translate ticks to angle
float angle = centered_counter_value * DEGREE_PER_TICKS;
return angle;
};

6
keil_project/Services/IncrEncoder.h
View file

@ -6,6 +6,10 @@ void INCR_ENCODER_Init(void);
int INCR_ENCODER_IsAbsolute(void);
int INCR_ENCODER_GetAngle(void);
/**
* @brief Returns the angle of the incremental encoder
* @retval -180 to 180 where 0 is the incremental encoder pointing towards the back of the boat
*/
float INCR_ENCODER_GetAngle(void);
#endif

19
keil_project/Services/Sail.c
View file

@ -1,15 +1,32 @@
#include "Sail.h"
#include "Servo.h"
#include "Servo.h"
#include <stdlib.h>
#include <math.h>
#define SAIL_TRANSFER_FACTOR 1.0
#define SAIL_TRANSFER_OFFSET 0
#define ANGLE_DEBUT 45
void SAIL_Init(void)
{
SERVO_Init();
}
int SAIL_AngleFromGirouette(float girouette_value){
float vabs = fabs(girouette_value);
if(vabs < ANGLE_DEBUT)
{
return 0;
}else{
// map 45 to 180 -> 0 to 90 and floor it to get an integer
return floor((90 / (180 - ANGLE_DEBUT)) * (vabs - ANGLE_DEBUT));
}
}
void SAIL_SetAngle(float angle)
{
float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;

1
keil_project/Services/Sail.h
View file

@ -5,6 +5,7 @@
void SAIL_Init(void);
int SAIL_AngleFromGirouette(float girouette_value);
// sets the opening angle of the sail
void SAIL_SetAngle(float angle);

6
keil_project/Src/main.c
View file

@ -44,6 +44,7 @@ int angle_roulis_good = 0;
int angle_sail = 0;
int RF_Input_Duty = 0;
int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
float angle_incr_encoder = 0;
char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";
@ -79,8 +80,9 @@ int main(void)
SAIL_SetAngle(90);
DC_MOTOR_SetSpeed(0);
}else{
angle_sail = INCR_ENCODER_GetAngle();
SAIL_SetAngle(angle_sail/2);
angle_incr_encoder = INCR_ENCODER_GetAngle();
angle_sail = SAIL_AngleFromGirouette(angle_incr_encoder);
SAIL_SetAngle(angle_sail);
RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
DC_MOTOR_SetSpeed(RF_Input_Duty);
}