geoffrey/cdf2018-principal
geoffrey/cdf2018-principal
1
0
Fork 0
mirror of https://github.com/RobotechLille/cdf2018-principal synced 2025-09-04 01:05:56 +02:00
Code Issues Releases Wiki Activity

Misc

Browse source
This commit is contained in:
Geoffrey Frogeye 2018-05-10 10:09:44 +02:00
parent 9802230d13
commit d30f0ed548
7 changed files with 36 additions and 27 deletions
Download patch file Download diff file Expand all files Collapse all files

14
simu/simu.m
View file

@ -3,7 +3,7 @@ SIMULATION = 0;
% Paramètres de lecture
DIRNAME = "/home/geoffrey/CdF/cdf2018-principal/log/";
FILENAME = "000471.csv";
FILENAME = "000655.csv";
PATH = DIRNAME + FILENAME;
% Paramètres de simulation
@ -33,7 +33,7 @@ motorNominalTension = 24.0; % V (from datasheet)
motorControllerAlimentation = 24.0; % V (from elec)
motorControllerReference = 5; % V (from wiring)
motorSaturationMin = 0; % V (from random)
motorSaturationMax = 12.0; % V (from testing)
motorSaturationMax = 3.0; % V (from testing)
pwmMax = 3.3; % V (from FPGA datasheet)
coderResolution = 370.0; % cycles/motor rev
coderDataFactor = 4.0; % increments/motor cycles
@ -51,8 +51,8 @@ dDirEcartMax = 10.0; % mm
oDirEcartMin = (5.0 / 360.0 * 2.0 * pi); % rad
oDirEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
oEcartMax = (25.0 / 360.0 * 2.0 * pi); % rad
oGain = 3.0;
P = 7.0;
oGain = 5.0;
P = 5.0;
I = 0.0;
D = 0.0;
@ -130,13 +130,15 @@ legend("Gauche", "Droite", "Err. gauche", "Err. droite");
% Distance
p = subplot(2, 2, 3);
hold on;
timeGraph(["dDirEcart", "dErr"]);
%timeGraph(["dDirEcart", "dErr"]);
timeGraph(["dDirEcart", "dErr", "secFront", "secBack"]);
addLimitline(p, dDirEcartMin);
addLimitline(p, dDirEcartMax);
title("Distance");
xlabel("Temps (s)");
ylabel("Distance (mm)");
legend("Ecart direction", "Err. retenue");
%legend("Ecart direction", "Err. retenue");
legend("Ecart direction", "Err. retenue", "Distance avant", "Distance arrière");
% Rotation
p = subplot(2, 2, 4);