CristalCaveGem » LustreC » Lustrec-Tests

node lego_anti_windup_real (in1, in2, in3, in4, cntA, cntB, cntC, battery_voltage : real; gyro_offset :  real)

returns (speedA, speedB, speedC : real);

var gyro, cmd_forward, cmd_turn, theta_m_l, theta_m_r,  pwm_turn,  theta_ref,  x_11_ref,  x_12_ref, x_13_ref, x_14_ref, theta, x_11, x_12, x_13, x_14,  errtheta, err, pwm_l, pwm_r,  anti_windup: real;

let

 cmd_forward = if in2 <= 25. then -100. else 0.;

 cmd_turn = 0.;

 gyro = in3;

 theta_m_l = cntC;

 theta_m_r = cntB;

 (pwm_turn, theta_ref, x_11_ref,  x_12_ref, x_13_ref, x_14_ref) = cal_reference(cmd_forward, cmd_turn);

 (theta, x_11,  x_12, x_13, x_14) = cal_x1(gyro, gyro_offset, theta_m_l, theta_m_r);

 errtheta = discrete_integrator(exec_period, (theta_ref-theta)*k_i + 0. -> pre(anti_windup*0.1));

 err = errtheta + k_f_1*(x_11_ref-x_11) + k_f_2*(x_12_ref-x_12)+ k_f_3*(x_13_ref-x_13) +k_f_4*(x_14_ref-x_14);

 (pwm_l,pwm_r,  anti_windup) = cal_pwm(theta_m_l, theta_m_r, pwm_turn, err, battery_voltage);

  speedA = 0.;

  speedB = pwm_r;

  speedC = pwm_l;

tel