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End of day 06 Mar. commit

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Remove speed from equation, attempt to debug calibration.
This is the last shot at calibration. If the solution can't be found
by 10am tomorrow, we revert to the old code.
This commit is contained in:
Blizzard Finnegan 2023-03-06 16:06:29 -05:00
parent cd0be06a9f
commit b2b05c50df
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GPG key ID: DE547EDF547DDA49
2 changed files with 25 additions and 36 deletions
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4
src/main/java/org/baxter/disco/ocr/Cli.java
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@ -81,9 +81,9 @@ public class Cli
ErrorLogging.logError("Version: " + version); ErrorLogging.logError("Version: " + version);
ErrorLogging.logError("========================"); ErrorLogging.logError("========================");
try{ try{
inputScanner = new Scanner(System.in); //inputScanner = new Scanner(System.in);
ConfigFacade.init(); //ConfigFacade.init();
//int userInput = 0; //int userInput = 0;

57
src/main/java/org/baxter/disco/ocr/MovementFacade.java
View file

@ -52,22 +52,17 @@ public class MovementFacade
* Max allowed speed by current fixture design. * Max allowed speed by current fixture design.
* Motor appears to start acting erratically over 192kHz. * Motor appears to start acting erratically over 192kHz.
*/ */
private static final double MAX_SPEED = 10.0; private static final int MAX_FREQUENCY = 192000;
/** /**
* Amount of buffer between the found absolute speed, and used speed. * Amount of buffer between the found absolute speed, and used speed.
*/ */
private static final double SPEED_BUFFER = 0.2; private static final int SPEED_BUFFER = 4000;
/** /**
* Minimum allowed speed of the fixture arm; also used for reset travels. * Minimum allowed speed of the fixture arm; also used for reset travels.
*/ */
private static final double MIN_SPEED = 0.5; private static final int MIN_FREQUENCY = 10000;
/**
* minimum speed, represented as frequency
*/
private static final int MIN_FREQUENCY = (int)(MIN_SPEED * PWM_FREQ_CONVERT);
/** /**
* Distance in cm the fixture needs to travel. * Distance in cm the fixture needs to travel.
@ -87,15 +82,10 @@ public class MovementFacade
*/ */
private static final double STEP_2 = 5/6; private static final double STEP_2 = 5/6;
/**
* Speed of the fixture arm, in cm/s
*/
private static double SPEED = MIN_SPEED;
/** /**
* Frequency fed to the PWM pin, which the motor controller converts into movement speed. * Frequency fed to the PWM pin, which the motor controller converts into movement speed.
*/ */
private static int FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT); private static int FREQUENCY = MIN_FREQUENCY;
/** /**
* PWM Duty Cycle. * PWM Duty Cycle.
@ -254,7 +244,7 @@ public class MovementFacade
//Initialise PWM object. //Initialise PWM object.
pwm = pwmBuilder("pwm","PWM Pin",PWM_PIN_ADDR); pwm = pwmBuilder("pwm","PWM Pin",PWM_PIN_ADDR);
//pwm.on(DUTY_CYCLE, FREQUENCY); pwm.on(DUTY_CYCLE, FREQUENCY);
} }
/** /**
@ -286,6 +276,7 @@ public class MovementFacade
.name(name) .name(name)
.address(address) .address(address)
.pwmType(PwmType.HARDWARE) .pwmType(PwmType.HARDWARE)
.frequency(FREQUENCY)
.provider("pigpio-pwm") .provider("pigpio-pwm")
.initial(1) .initial(1)
//On program close, turn off PWM. //On program close, turn off PWM.
@ -298,6 +289,7 @@ public class MovementFacade
.name(name) .name(name)
.address(address) .address(address)
.pwmType(PwmType.SOFTWARE) .pwmType(PwmType.SOFTWARE)
.frequency(FREQUENCY)
.provider("pigpio-pwm") .provider("pigpio-pwm")
.initial(1) .initial(1)
//On program close, turn off PWM. //On program close, turn off PWM.
@ -394,12 +386,12 @@ public class MovementFacade
ErrorLogging.logError("Initial Calibration reset."); ErrorLogging.logError("Initial Calibration reset.");
resetArm(); resetArm();
ErrorLogging.logError("Coarse calibrating..."); ErrorLogging.logError("Coarse calibrating...");
SPEED = calib(3, MAX_SPEED, 1); FREQUENCY = calib(MIN_FREQUENCY, MAX_FREQUENCY, 10000);
ErrorLogging.logError("Fine calibrating..."); ErrorLogging.logError("Fine calibrating...");
SPEED = calib(SPEED,(SPEED+1),0.1); FREQUENCY = calib(FREQUENCY,(FREQUENCY+10000),1000);
ErrorLogging.logError("Calibration complete!"); ErrorLogging.logError("Calibration complete!");
ErrorLogging.logError("DEBUG: Speed set to " + (SPEED - SPEED_BUFFER)); ErrorLogging.logError("DEBUG: Speed set to " + (FREQUENCY - SPEED_BUFFER));
setSpeed(SPEED - SPEED_BUFFER); setSpeed(FREQUENCY - SPEED_BUFFER);
} }
/** /**
@ -411,22 +403,22 @@ public class MovementFacade
* *
* @return The largest safe value between start and max. * @return The largest safe value between start and max.
*/ */
private static double calib(double start, double max, double iterate) private static int calib(int start, int max, int iterate)
{ {
ErrorLogging.logError("DEBUG: Calibrating. Iterating from " + start + " to " + max + " in " + iterate + " steps."); ErrorLogging.logError("DEBUG: Calibrating. Iterating from " + start + " to " + max + " in " + iterate + " steps.");
//start -= iterate; //start -= iterate;
for(double i = start; i < max; i+=iterate) for(int i = start; i < max; i+=iterate)
{ {
ErrorLogging.logError("DEBUG: Testing speed " + i + "..."); ErrorLogging.logError("DEBUG: Testing speed " + i + "...");
if(!setSpeed(i)) if(!setSpeed(i))
{ {
ErrorLogging.logError("DEBUG: Speed set unsuccessfully! returning " + MIN_SPEED + "..."); ErrorLogging.logError("DEBUG: Speed set unsuccessfully! returning " + MIN_FREQUENCY + "...");
return MIN_SPEED; return MIN_FREQUENCY;
} }
ErrorLogging.logError("DEBUG: Motor travelling down."); ErrorLogging.logError("DEBUG: Motor travelling down.");
motorDirection.low(); motorDirection.low();
ErrorLogging.logError("DEBUG: Motor Frequency: " + FREQUENCY); //ErrorLogging.logError("DEBUG: Motor Frequency: " + FREQUENCY);
pwm.on(DUTY_CYCLE,FREQUENCY); //pwm.on(DUTY_CYCLE,FREQUENCY);
ErrorLogging.logError("DEBUG: Motor calibrate on."); ErrorLogging.logError("DEBUG: Motor calibrate on.");
motorEnable.on(); motorEnable.on();
for(int j = 0; j < 20; j++) for(int j = 0; j < 20; j++)
@ -466,21 +458,19 @@ public class MovementFacade
* *
* @return true if set successfully, else false * @return true if set successfully, else false
*/ */
private static boolean setSpeed(double newSpeed) private static boolean setSpeed(int newFrequency)
{ {
boolean output; boolean output;
if(newSpeed < MIN_SPEED || newSpeed > MAX_SPEED) if(newFrequency < MIN_FREQUENCY || newFrequency > MAX_FREQUENCY)
{ {
SPEED = MIN_SPEED; FREQUENCY = MIN_FREQUENCY;
output = false; output = false;
} }
else else
{ {
SPEED = newSpeed; FREQUENCY = newFrequency;
output = true; output = true;
} }
SPEED = newSpeed;
FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT);
ErrorLogging.logError("DEBUG: Setting frequency to " + FREQUENCY); ErrorLogging.logError("DEBUG: Setting frequency to " + FREQUENCY);
pwm.on(DUTY_CYCLE, FREQUENCY); pwm.on(DUTY_CYCLE, FREQUENCY);
return output; return output;
@ -514,9 +504,8 @@ public class MovementFacade
if(limitSense.isHigh()) return FinalState.SAFE; if(limitSense.isHigh()) return FinalState.SAFE;
FREQUENCY = (int)(SPEED * TIME_CONVERSION);
pwm.on(DUTY_CYCLE, FREQUENCY); pwm.on(DUTY_CYCLE, FREQUENCY);
int TRAVEL_TIME = (int)(TRAVEL_DIST / SPEED); int TRAVEL_TIME = (int)(TRAVEL_DIST / (FREQUENCY / PWM_FREQ_CONVERT));
int POLL_COUNT = TRAVEL_TIME * TIME_CONVERSION; int POLL_COUNT = TRAVEL_TIME * TIME_CONVERSION;
int VEL_STEP_1 = (int)(STEP_1 * POLL_COUNT); int VEL_STEP_1 = (int)(STEP_1 * POLL_COUNT);
int VEL_STEP_2 = (int)(STEP_2 * POLL_COUNT); int VEL_STEP_2 = (int)(STEP_2 * POLL_COUNT);
@ -525,7 +514,7 @@ public class MovementFacade
ErrorLogging.logError("DEBUG: Transition 1: " + VEL_STEP_1); ErrorLogging.logError("DEBUG: Transition 1: " + VEL_STEP_1);
ErrorLogging.logError("DEBUG: Transition 2: " + VEL_STEP_2); ErrorLogging.logError("DEBUG: Transition 2: " + VEL_STEP_2);
ErrorLogging.logError("DEBUG: Travel time: " + TRAVEL_TIME); ErrorLogging.logError("DEBUG: Travel time: " + TRAVEL_TIME);
ErrorLogging.logError("DEBUG: Travel speed: " + SPEED); ErrorLogging.logError("DEBUG: Travel speed: " + (FREQUENCY/PWM_FREQ_CONVERT));
ErrorLogging.logError("DEBUG: STEP_1: " + STEP_1); ErrorLogging.logError("DEBUG: STEP_1: " + STEP_1);
ErrorLogging.logError("DEBUG: STEP_2: " + STEP_2); ErrorLogging.logError("DEBUG: STEP_2: " + STEP_2);
motorEnable.on(); motorEnable.on();