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4310 sudden movement bug fix #75

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4310 sudden movement bug fix #75

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11 changes: 9 additions & 2 deletions shared/libraries/motor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -679,6 +679,13 @@ Motor4310::Motor4310(bsp::CAN* can, uint16_t rx_id, uint16_t tx_id, mode_t mode)
}
}

Motor4310::Motor4310(bsp::CAN* can, uint16_t rx_id, uint16_t tx_id, mode_t mode, float p_max)
: Motor4310(can, rx_id, tx_id, mode) {
can->RegisterRxCallback(rx_id, can_motor_4310_callback, this);
P_MAX = p_max;
P_MIN = -p_max;
}

void Motor4310::MotorEnable() {
uint8_t data[8] = {0};
data[0] = 0xff;
Expand Down Expand Up @@ -748,7 +755,7 @@ void Motor4310::TransmitOutput(Motor4310* motors[], uint8_t num_motors) {
// converting float to unsigned int before transmitting
kp_tmp = float_to_uint(motors[i]->kp_set_, KP_MIN, KP_MAX, 12);
kd_tmp = float_to_uint(motors[i]->kd_set_, KD_MIN, KD_MAX, 12);
pos_tmp = float_to_uint(motors[i]->pos_set_, P_MIN, P_MAX, 16);
pos_tmp = float_to_uint(motors[i]->pos_set_, motors[i]->P_MIN, motors[i]->P_MAX, 16);
vel_tmp = float_to_uint(motors[i]->vel_set_, V_MIN, V_MAX, 12);
torque_tmp = float_to_uint(motors[i]->torque_set_, T_MIN, T_MAX, 12);
data[0] = pos_tmp >> 8;
Expand Down Expand Up @@ -793,7 +800,7 @@ void Motor4310::UpdateData(const uint8_t data[]) {
raw_mosTemp_ = data[6];
raw_motorTemp_ = data[7];

theta_ = uint_to_float(raw_pos_, P_MIN, P_MAX, 16);
theta_ = wrap<float>(uint_to_float(raw_pos_, P_MIN, P_MAX, 16), P_MIN, P_MAX);
omega_ = uint_to_float(raw_vel_, V_MIN, V_MAX, 12);
torque_ = uint_to_float(raw_torque_, T_MIN, T_MAX, 12);

Expand Down
6 changes: 4 additions & 2 deletions shared/libraries/motor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -732,6 +732,8 @@ class Motor4310 {
*/
Motor4310(bsp::CAN* can, uint16_t rx_id, uint16_t tx_id, mode_t mode);

Motor4310(bsp::CAN* can, uint16_t rx_id, uint16_t tx_id, mode_t mode, float P_MAX);

/* implements data update callback */
void UpdateData(const uint8_t data[]);

Expand Down Expand Up @@ -865,8 +867,8 @@ class Motor4310 {
constexpr static float KD_MIN = 0;
constexpr static float KD_MAX = 5;
// position
constexpr static float P_MIN = -PI;
constexpr static float P_MAX = PI;
float P_MIN = -PI;
float P_MAX = PI;
// velocity
constexpr static float V_MIN = -45;
constexpr static float V_MAX = 45;
Expand Down
7 changes: 6 additions & 1 deletion shared/libraries/utils.cc
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Expand Up @@ -66,8 +66,13 @@ uint16_t float_to_uint(float x, float x_min, float x_max, int bits) {
return (uint16_t) ((x-offset) * ((float)((1<<bits)-1))/span);
}

// WARNING: this does not produce the correct result when bits = 16
// e.g. x_min = -PI and x_max = PI, the result is from -2PI to 0 instead if bits = 16
// probably has to do with int is 16bit and when the bits param is 16

float uint_to_float(int x_int, float x_min, float x_max, int bits) {
float span = x_max - x_min;
float offset = x_min;
return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
int32_t x_int_longer = 0x0000FFFF & x_int; // zero extend 16 bit to 32 bit
return ((float)x_int_longer) * span / ((float)((1 << bits) - 1)) + offset;
}
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