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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| #ifndef CONFIG_HOLDER_H | ||
| #define CONFIG_HOLDER_H | ||
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| #include "../defaultConfigHolder.h" | ||
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| class SetupConfigHolder : public DefaultConfigHolder | ||
| { | ||
| public: | ||
| static std::unique_ptr<OpticalEncoderHandler> createMainEncoderHandler() | ||
| { | ||
| constexpr static std::array<uint16_t, 2048> aVec = {0}; | ||
| constexpr static std::array<uint16_t, 2048> bVec = {0}; | ||
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| return std::make_unique<OpticalEncoderHandler>(aVec, bVec, A3, A4, 4096.0f * 10.0f / 1 * 11.0f / 62 * 14.0f / 48 * 13.0f / 45 * 1.0f / 42); | ||
| } | ||
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| static std::unique_ptr<EncoderHandlerInterface> createOutputEncoderHandler() | ||
| { | ||
| constexpr static std::array<int16_t, 1025> compVec = {0}; | ||
| return std::make_unique<ResistiveEncoderHandler>(A1, 4096.0f * 220.0f / 360, compVec); | ||
| } | ||
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| static std::unique_ptr<CurrentController> createCurrentController() | ||
| { | ||
| constexpr float pwmToStallCurrent{1.0f}; | ||
| constexpr float backEmfCurrent{0.0f}; | ||
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| auto pwmHighFrqCompFun = [](uint16_t in) | ||
| { | ||
| return in; | ||
| }; | ||
| auto pwm = std::make_unique<HBridgeHighResPin11And12Pwm>(true, true, pwmHighFrqCompFun, 24000); | ||
| return std::make_unique<CurrentControlModel>(pwmToStallCurrent, backEmfCurrent, std::move(pwm)); | ||
| } | ||
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| class DefaultControlParametersWithPositionCompensation : public SetupConfigHolder::DefaultControlParameters | ||
| { | ||
| public: | ||
| static std::array<int16_t, 512> getPosDepForceCompVec() | ||
| { | ||
| constexpr static std::array<int16_t, 512> vec = {0}; | ||
| return vec; | ||
| } | ||
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| static std::array<int16_t, 512> getPosDepFrictionCompVec() | ||
| { | ||
| constexpr static std::array<int16_t, 512> vec = {0}; | ||
| return vec; | ||
| } | ||
| }; | ||
|
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| class ControlParameters : public DefaultControlParametersWithPositionCompensation | ||
| { | ||
| public: | ||
| //kalman filter observer vector | ||
| static Eigen::Matrix<float, 3, 7> getKVector() | ||
| { | ||
| Eigen::Matrix<float, 3, 7> K; | ||
| K << -1.9619302890043613e-23f, 6.763936428834821e-19f, -1.0211439280426281e-14f, 8.966380809069127e-11f, -5.026553398907519e-07f, 0.0017546745669688208f, -0.01965617492779689f, | ||
| 2.5494778082386736e-19f, -7.113271986018928e-15f, 7.773198181849748e-11f, -4.0726853722124173e-07f, 0.0008984664748649702f, 0.3759747733999441f, -61.62201356939168f, | ||
| 5.093177792677117e-19f, -1.8966263561104195e-14f, 2.783998596483012e-10f, -1.9943485906824697e-06f, 0.006503382629253611f, -2.7471624009629547f, 339.77668409510306f; | ||
|
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| return K; | ||
| } | ||
|
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| //system model A matrix | ||
| static Eigen::Matrix3f getAMatrix() | ||
| { | ||
| Eigen::Matrix3f A; | ||
| A << 1.0f, 0.0005936462787358029f, 1.887871435352648e-05f, | ||
| 0.0f, 0.9788959531583871f, 0.06270613007078364f, | ||
| 0.0f, 0.0f, 1.0f; | ||
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| return A; | ||
| } | ||
|
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| //system model invers A matrix | ||
| static Eigen::Matrix3f getAInvMatrix() | ||
| { | ||
| Eigen::Matrix3f AInv; | ||
| AInv << 1.0f, -0.0006064447164383669f, 1.9149086916197254e-05f, | ||
| 0.0f, 1.021559029612413f, -0.0640580133858595f, | ||
| 0.0f, 0.0f, 1.0f; | ||
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| return AInv; | ||
| } | ||
|
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| //system model B matrix | ||
| static Eigen::Vector3f getBVector() | ||
| { | ||
| Eigen::Vector3f B; | ||
| B << 1.887871435352648e-05f, | ||
| 0.06270613007078364f, | ||
| 0.0f; | ||
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| return B; | ||
| } | ||
|
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| static bool internalFeedForwardEnabled() | ||
| { | ||
| return true; | ||
| } | ||
|
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| //system model friction comp value | ||
| static float getFrictionComp() | ||
| { | ||
| return 58.36825891129791f; | ||
| } | ||
| }; | ||
| }; | ||
|
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| class ConfigHolder | ||
| { | ||
| public: | ||
| static std::unique_ptr<Communication> getCommunicationHandler() | ||
| { | ||
| Serial.begin(115200); | ||
| Serial1.begin(115200); | ||
| auto com = std::make_unique<Communication>(SerialComOptimizer(&Serial1, &Serial)); | ||
| com->addCommunicationNode( | ||
| std::make_unique<DCServoCommunicationHandler>(1, createDCServo<SetupConfigHolder>())); | ||
|
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| return com; | ||
| } | ||
| }; | ||
|
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| #endif |
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