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Added chassis locking for swerve when not in spintop #18

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Added chassis locking for swerve when not in spintop #18

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23bc853
Initial commit for branch
nicolasshul Jun 18, 2025
819fe23
added functionality for different locked states when not in spintop
nicolasshul Jun 18, 2025
dd60a03
minor bug fixes
nicolasshul Jun 18, 2025
36b029b
added keyboard inputs for different locked states
nicolasshul Jun 18, 2025
50f7502
Currently Debugging the code and tuning PID
aniu2240 Jun 19, 2025
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7 changes: 7 additions & 0 deletions Swerve-Standard/inc/robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,19 @@ typedef enum Robot_State_e {
ENABLED
} Robot_State_e;

typedef enum Locked_State_e {
ANGLED,
STRAIGHT,
RANDOM
} Locked_State_e;

typedef struct {
// chassis motion
float x_speed;
float y_speed;
float omega;
uint8_t IS_SPINTOP_ENABLED;
Locked_State_e locked_state;

// power management
uint16_t power_index;
Expand Down
58 changes: 52 additions & 6 deletions Swerve-Standard/src/chassis_task.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,17 +7,22 @@
#include "referee_system.h"
#include "swerve_locomotion.h"
#include "rate_limiter.h"
#include "pid.h"

extern Robot_State_t g_robot_state;
extern Remote_t g_remote;
extern Referee_System_t Referee_System;
extern DJI_Motor_Handle_t *g_yaw;

DJI_Motor_Handle_t *g_azimuth_motors[NUMBER_OF_MODULES];
DJI_Motor_Handle_t *g_drive_motors[NUMBER_OF_MODULES];
swerve_constants_t g_swerve_constants;
swerve_chassis_state_t g_chassis_state;
float measured_angles[NUMBER_OF_MODULES];

float gimbal_angle_difference;
PID_t angle_locking_pid;

rate_limiter_t chassis_vel_limiters[4];
rate_limiter_t chassis_omega_limiter;

Expand All @@ -38,10 +43,10 @@ void Chassis_Task_Init()
},
.velocity_pid =
{
.kp = 300.0f,
.kp = 100.0f,
.ki = 0.0f,
.kd = 100.0f,
.kf = 2000.0f,
.kd = 0.0f,
.kf = 000.0f,
.feedforward_limit = 5000.0f,
.integral_limit = 5000.0f,
.output_limit = GM6020_MAX_VOLTAGE_INT,
Expand Down Expand Up @@ -104,6 +109,9 @@ void Chassis_Task_Init()
}
#define SWERVE_MAX_OMEGA_ACCEL (5.0f)
rate_limiter_init(&chassis_omega_limiter, SWERVE_MAX_OMEGA_ACCEL);

// Initialize PID for locking
PID_Init(&angle_locking_pid, 1, 0, 0, 2 * PI * 1, 0, 0.05);
}

void Chassis_Ctrl_Loop()
Expand Down Expand Up @@ -146,11 +154,49 @@ void Chassis_Ctrl_Loop()
// g_chassis_state.v_x = g_chassis_state.v_x * cos(theta) - g_chassis_state.v_y * sin(theta);
// g_chassis_state.v_y = g_chassis_state.v_x * sin(theta) + g_chassis_state.v_y * cos(theta);

// If spintop enabled, chassis omega set to spintop value
// If spintop enabled, chassis omega set to spintop value
// gimbal_angle_difference = g_robot_state.gimbal.yaw_angle;
// float chassis_omega_new_target;
// if (g_robot_state.chassis.IS_SPINTOP_ENABLED) {
// g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, Rescale_Chassis_Velocity());
// }
// else if (g_robot_state.chassis.locked_state == STRAIGHT) {
// __MAP_ANGLE_TO_UNIT_CIRCLE(gimbal_angle_difference);

// gimbal_angle_difference = __MOD_F(gimbal_angle_difference, PI / 2);
// if (gimbal_angle_difference > PI / 4) { // might be easier to go by the way of spin top direction
// gimbal_angle_difference = -1 * ((PI / 2) - gimbal_angle_difference);
// }
// chassis_omega_new_target = PID(&angle_locking_pid, -gimbal_angle_difference);
// __MAX_LIMIT(chassis_omega_new_target, -1 * g_spintop_omega, g_spintop_omega); // might not need this
// g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, chassis_omega_new_target);
// }
// else if (g_robot_state.chassis.locked_state == ANGLED) {
// __MAP_ANGLE_TO_UNIT_CIRCLE(gimbal_angle_difference);

// gimbal_angle_difference += PI / 4;
// gimbal_angle_difference = __MOD_F(gimbal_angle_difference, PI / 2);
// if (gimbal_angle_difference > PI / 4) {
// gimbal_angle_difference = -1 * ((PI / 2) - gimbal_angle_difference);
// }
// chassis_omega_new_target = PID(&angle_locking_pid, -gimbal_angle_difference);
// __MAX_LIMIT(chassis_omega_new_target, -1 * g_spintop_omega, g_spintop_omega);
// g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, chassis_omega_new_target);
// }
// else { // random locking
// g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, 0);
// }
float tmpgimbal_angle_difference = DJI_Motor_Get_Absolute_Angle(g_yaw);
//float chassis_omega_new_target;

// if (g_remote.controller.left_switch )
if (g_robot_state.chassis.IS_SPINTOP_ENABLED) {
g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, Rescale_Chassis_Velocity());
} else {
g_chassis_state.omega = rate_limiter_iterate(&chassis_omega_limiter, g_robot_state.chassis.omega * SWERVE_MAX_ANGLUAR_SPEED);
__MAP_ANGLE_TO_UNIT_CIRCLE(tmpgimbal_angle_difference);
gimbal_angle_difference = tmpgimbal_angle_difference;
g_chassis_state.omega = PID(&angle_locking_pid, gimbal_angle_difference);

}

// Calculate the kinematics of the chassis
Expand Down Expand Up @@ -232,4 +278,4 @@ float Rescale_Chassis_Velocity(void) {
float spin_coeff = chassis_rad * g_spintop_omega / (translation_speed * 2.0f + chassis_rad * g_spintop_omega);
float target_omega = g_spintop_omega * spin_coeff;
return target_omega;
}
}
24 changes: 23 additions & 1 deletion Swerve-Standard/src/robot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,7 @@ void Process_Remote_Input()
{
g_robot_state.IS_SUPER_CAPACITOR_ENABLED = 1;
} else {

g_robot_state.IS_SUPER_CAPACITOR_ENABLED = 0;
}

Expand All @@ -156,16 +157,37 @@ void Process_Remote_Input()
g_robot_state.chassis.IS_SPINTOP_ENABLED ^= 0x01;
}

if (g_remote.keyboard.R) {
g_robot_state.chassis.locked_state = RANDOM;
}

if (g_remote.keyboard.E) {
g_robot_state.chassis.locked_state = STRAIGHT;
}

if (g_remote.keyboard.Q) {
g_robot_state.chassis.locked_state = ANGLED;
}

if (g_remote.controller.left_switch == UP) { // Left switch high to enable spintop
//g_robot_state.chassis.IS_SPINTOP_ENABLED = 1;
//g_robtot_state.launch.IS_FIRING_ENABLED = 1;
g_robot_state.launch.IS_AUTO_AIMING_ENABLED = 1;
} else {
//g_robot_state.chassis.IS_SPINTOP_ENABLED = 0;
g_robot_state.chassis.IS_SPINTOP_ENABLED = 0;
//g_robot_state.launch.IS_FIRING_ENABLED = 0;
g_robot_state.launch.IS_AUTO_AIMING_ENABLED = 0;
}

if (g_remote.controller.left_switch == MID)
{
g_robot_state.chassis.IS_SPINTOP_ENABLED = 1;
}
else
{
g_robot_state.chassis.IS_SPINTOP_ENABLED = 0;
}

// Update previous states keyboard
g_input_state.prev_B = g_remote.keyboard.B;
g_input_state.prev_G = g_remote.keyboard.G;
Expand Down
10 changes: 10 additions & 0 deletions control-base/algo/inc/user_math.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,4 +70,14 @@
#define __SLEW_RATE_LIMIT(curr, delta, ramp) \
curr = (1 - (ramp)) * (curr) + (ramp) * (delta)

#define __ABS(x) \
(x < 0 ? -1 * x : x) \

// floor for floats
#define __FLOOR_F(x) \
(x < 0 && __ABS(x - ((int) x)) > 0.0001 ? (float)((int) x) - 1.0 : (float)((int) x)) \

#define __MOD_F(a, b) \
a - b * __FLOOR_F((a / b)) \

#endif // USER_MATH_H