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106 lines
3.7 KiB
106 lines
3.7 KiB
import numpy as np
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from common.realtime import DT_CTRL
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from selfdrive.car.body import bodycan
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from opendbc.can.packer import CANPacker
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MAX_TORQUE = 500
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MAX_TORQUE_RATE = 50
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MAX_ANGLE_ERROR = 7
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.packer = CANPacker(dbc_name)
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self.i_speed = 0
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self.i_balance = 0
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self.d_balance = 0
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self.i_torque = 0
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self.speed_measured = 0.
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self.speed_desired = 0.
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self.torque_r_filtered = 0.
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self.torque_l_filtered = 0.
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self.wait_counter = int(5. / DT_CTRL)
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@staticmethod
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def deadband_filter(torque, deadband):
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if torque > 0:
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torque += deadband
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else:
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torque -= deadband
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return torque
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def update(self, CC, CS):
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if self.wait_counter > 0:
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self.wait_counter -= 1
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return CC.actuators.copy(), []
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if len(CC.orientationNED) == 0 or len(CC.angularVelocity) == 0:
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return CC.actuators.copy(), []
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# ///////////////////////////////////////
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# Steer and accel mixin. Speed should be used as a target? (speed should be in m/s! now it is in RPM)
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# Mix steer into torque_diff
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# self.steerRatio = 0.5
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# torque_r = int(np.clip((CC.actuators.accel*1000) - (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000))
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# torque_l = int(np.clip((CC.actuators.accel*1000) + (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000))
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# ////
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# Setpoint speed PID
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kp_speed = 0.001
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ki_speed = 0.00001
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alpha_speed = 1.0
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self.speed_measured = (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
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self.speed_desired = (1. - alpha_speed)*self.speed_desired
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p_speed = (self.speed_desired - self.speed_measured)
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self.i_speed += ki_speed * p_speed
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self.i_speed = np.clip(self.i_speed, -0.1, 0.1)
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set_point = p_speed * kp_speed + self.i_speed
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# Balancing PID
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kp_balance = 1300
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ki_balance = 0
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kd_balance = 280
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alpha_d_balance = 1.0
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# Clip angle error, this is enough to get up from stands
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p_balance = np.clip((-CC.orientationNED[1]) - set_point, np.radians(-MAX_ANGLE_ERROR), np.radians(MAX_ANGLE_ERROR))
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self.i_balance += CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr
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self.d_balance = np.clip(((1. - alpha_d_balance) * self.d_balance + alpha_d_balance * -CC.angularVelocity[1]), -1., 1.)
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torque = int(np.clip((p_balance*kp_balance + self.i_balance*ki_balance + self.d_balance*kd_balance), -1000, 1000))
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# Positional recovery PID
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kp_torque = 0.95
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ki_torque = 0.1
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p_torque = (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
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self.i_torque += (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
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torque_diff = int(np.clip(p_torque*kp_torque + self.i_torque*ki_torque, -100, 100))
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# Combine 2 PIDs outputs
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torque_r = torque + torque_diff
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torque_l = torque - torque_diff
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# Torque rate limits
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self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10) ,
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self.torque_r_filtered - MAX_TORQUE_RATE,
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self.torque_r_filtered + MAX_TORQUE_RATE)
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self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
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self.torque_l_filtered - MAX_TORQUE_RATE,
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self.torque_l_filtered + MAX_TORQUE_RATE)
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torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
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torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
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# ///////////////////////////////////////
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can_sends = []
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can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
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new_actuators = CC.actuators.copy()
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new_actuators.accel = torque_l
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new_actuators.steer = torque_r
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return new_actuators, can_sends
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