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🐛Fixed scaling in drive pid #110 #116

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Jun 2, 2024
Merged

🐛Fixed scaling in drive pid #110 #116

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38 changes: 21 additions & 17 deletions src/EZ-Template/drive/pid_tasks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,27 +46,31 @@ void Drive::drive_pid_task() {
slew_left.iterate(drive_sensor_left());
slew_right.iterate(drive_sensor_right());

// Clip leftPID and rightPID to slew (if slew is disabled, it returns max_speed)
double l_drive_out = util::clamp(leftPID.output, slew_left.output(), -slew_left.output());
double r_drive_out = util::clamp(rightPID.output, slew_right.output(), -slew_right.output());
// Left and Right outputs
double l_drive_out = leftPID.output;
double r_drive_out = rightPID.output;

// Scale leftPID and rightPID to slew (if slew is disabled, it returns max_speed)
double max_slew_out = fmin(slew_left.output(), slew_right.output());
double faster_side = fmax(fabs(l_drive_out), fabs(r_drive_out));
if (faster_side > max_slew_out) {
l_drive_out = l_drive_out * (max_slew_out / faster_side);
r_drive_out = r_drive_out * (max_slew_out / faster_side);
}

// Toggle heading
double gyro_out = heading_on ? headingPID.output : 0;
double imu_out = heading_on ? headingPID.output : 0;

// Combine heading and drive
double l_out = l_drive_out + gyro_out;
double r_out = r_drive_out - gyro_out;

// Vector scaling
double max_slew_out = fmin(slew_left.output(), slew_right.output());
if (fabs(l_out) > max_slew_out || fabs(r_out) > max_slew_out) {
if (fabs(l_out) > fabs(r_out)) {
r_out = r_out * (max_slew_out / fabs(l_out));
l_out = util::clamp(l_out, max_slew_out, -max_slew_out);
} else {
l_out = l_out * (max_slew_out / fabs(r_out));
r_out = util::clamp(r_out, max_slew_out, -max_slew_out);
}
double l_out = l_drive_out + imu_out;
double r_out = r_drive_out - imu_out;

// Vector scaling when combining drive and imo
max_slew_out = fmin(slew_left.output(), slew_right.output());
faster_side = fmax(fabs(l_out), fabs(r_out));
if (faster_side > max_slew_out) {
l_out = l_out * (max_slew_out / faster_side);
r_out = r_out * (max_slew_out / faster_side);
}

// Set motors
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