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99 lines
3.9 KiB
99 lines
3.9 KiB
import numpy as np
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car.body import bodycan
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from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
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from openpilot.selfdrive.controls.lib.pid import PIDController
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MAX_TORQUE = 500
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MAX_TORQUE_RATE = 50
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MAX_ANGLE_ERROR = np.radians(7)
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MAX_POS_INTEGRATOR = 0.2 # meters
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MAX_TURN_INTEGRATOR = 0.1 # meters
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.frame = 0
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self.packer = CANPacker(dbc_name)
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# Speed, balance and turn PIDs
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self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
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self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
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self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
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self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
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self.torque_r_filtered = 0.
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self.torque_l_filtered = 0.
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params = Params()
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self.wheeled_body = params.get("WheeledBody")
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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, now_nanos):
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torque_l = 0
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torque_r = 0
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llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
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if CC.enabled and llk_valid:
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# Read these from the joystick
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# TODO: this isn't acceleration, okay?
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speed_desired = CC.actuators.accel / 5.
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speed_diff_desired = -CC.actuators.steer / 2.
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speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
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speed_error = speed_desired - speed_measured
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if self.wheeled_body is None:
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freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
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(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
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angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
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# Clip angle error, this is enough to get up from stands
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angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
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angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
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torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
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else:
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torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
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speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
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turn_error = speed_diff_measured - speed_diff_desired
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freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
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(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
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torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
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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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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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new_actuators.steerOutputCan = torque_r
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self.frame += 1
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return new_actuators, can_sends
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