Started inner loop control tuning

control/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

control/.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

control/.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+  "cmake.configureOnOpen": true
+}

control/include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

control/lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

control/platformio.ini

@@ -0,0 +1,18 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32-c3-devkitc-02]
+platform = espressif32
+board = esp32dev
+framework = arduino
+lib_deps = 
+	khoih-prog/TimerInterrupt_Generic@^1.13.0
+	adafruit/Adafruit MPU6050@^2.2.4
+monitor_speed = 115200

control/src/main.cpp

@@ -0,0 +1,159 @@
+#include <Arduino.h>
+#include <TimerInterrupt_Generic.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <step.h>
+#include <chrono>
+
+// The Stepper pins
+#define STEPPER1_DIR_PIN 16   //Arduino D9
+#define STEPPER1_STEP_PIN 17  //Arduino D8
+#define STEPPER2_DIR_PIN 4    //Arduino D11
+#define STEPPER2_STEP_PIN 14  //Arduino D10
+#define STEPPER_EN 15         //Arduino D12
+
+// Diagnostic pin for oscilloscope
+#define TOGGLE_PIN  32        //Arduino A4
+
+const int PRINT_INTERVAL = 50;
+const double LOOP_INTERVAL = 5;
+const int  STEPPER_INTERVAL_US = 10;
+
+//Global objects
+ESP32Timer ITimer(3);
+Adafruit_MPU6050 mpu;         //Default pins for I2C are SCL: IO22/Arduino D3, SDA: IO21/Arduino D4
+
+step step1(STEPPER_INTERVAL_US,STEPPER1_STEP_PIN,STEPPER1_DIR_PIN );
+step step2(STEPPER_INTERVAL_US,STEPPER2_STEP_PIN,STEPPER2_DIR_PIN );
+
+
+//Interrupt Service Routine for motor update
+//Note: ESP32 doesn't support floating point calculations in an ISR
+bool TimerHandler(void * timerNo)
+{
+  static bool toggle = false;
+
+  //Update the stepper motors
+  step1.runStepper();
+  step2.runStepper();
+
+  //Indicate that the ISR is running
+  digitalWrite(TOGGLE_PIN,toggle);  
+  toggle = !toggle;
+	return true;
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  pinMode(TOGGLE_PIN,OUTPUT);
+
+  // Try to initialize Accelerometer/Gyroscope
+  if (!mpu.begin()) {
+    Serial.println("Failed to find MPU6050 chip");
+    while (1) {
+      delay(10);
+    }
+  }
+  Serial.println("MPU6050 Found!");
+
+  mpu.setAccelerometerRange(MPU6050_RANGE_2_G);
+  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
+  mpu.setFilterBandwidth(MPU6050_BAND_44_HZ);
+
+  //Attach motor update ISR to timer to run every STEPPER_INTERVAL_US μs
+  if (!ITimer.attachInterruptInterval(STEPPER_INTERVAL_US, TimerHandler)) {
+    Serial.println("Failed to start stepper interrupt");
+    while (1) delay(10);
+    }
+  Serial.println("Initialised Interrupt for Stepper");
+
+  //Set motor acceleration values
+  step1.setAccelerationRad(30.0);
+  step2.setAccelerationRad(30.0);
+
+  //Enable the stepper motor drivers
+  pinMode(STEPPER_EN,OUTPUT);
+  digitalWrite(STEPPER_EN, false);
+
+}
+
+void loop()
+{
+  //Static variables are initialised once and then the value is remembered betweeen subsequent calls to this function
+  static unsigned long printTimer = 0;  //time of the next print
+  static unsigned long loopTimer = 0;   //time of the next control update
+  static double tiltx = 0.0;
+  static double gyrox = 0.0;             //current tilt angle
+  static double gyroangle = 0.0;
+  static double theta_n = 0.0;
+
+
+  float kp = 2;
+  float ki = 0.002;  //potentially don't need if we get the setpoint right (correct offset calibration)
+  float kd = 1;
+  float setpoint = -0.51;
+  double error, previous_error = 0, integral = 0, derivative = 0, previous_derivative = 0, Pout, Iout, Dout, motor_out;
+
+  //Run the control loop every LOOP_INTERVAL ms
+  if (millis() > loopTimer) {
+    loopTimer += LOOP_INTERVAL;
+
+    // Fetch data from MPU6050
+    sensors_event_t a, g, temp;
+    mpu.getEvent(&a, &g, &temp);
+
+    //Calculate Tilt using accelerometer and sin x = x approximation for a small tilt angle
+    tiltx = asin(a.acceleration.z/9.81)-0.05;
+
+    gyrox = g.gyro.y - 0.04;   
+    gyroangle = gyroangle + (gyrox*(LOOP_INTERVAL));
+
+    theta_n = 0.04*(tiltx*100) + 0.96*((gyrox*LOOP_INTERVAL)/10 + theta_n);
+
+    //PIDeez Nuts
+
+
+    error = setpoint - theta_n;
+
+    Pout = kp*error;
+
+    integral = integral + error*(LOOP_INTERVAL/1000);
+    Iout = ki*integral;
+
+    derivative = ((error - previous_error)/LOOP_INTERVAL)*1000;
+    derivative = previous_derivative + 0.2*(derivative-previous_derivative); 
+    previous_derivative = derivative;
+
+    Dout = kd*derivative;
+
+    motor_out = Pout + Iout + Dout;
+
+    previous_error = error;
+
+    //Set target motor speed
+
+    step1.setTargetSpeedRad(motor_out);
+    step2.setTargetSpeedRad(-motor_out);
+  }
+
+  //Print updates every PRINT_INTERVAL ms
+  // if (millis() > printTimer) {
+  //   printTimer += PRINT_INTERVAL;
+
+  //   Serial.print(error);
+  //   Serial.print(' ');
+  //   Serial.print(motor_out);
+  //   Serial.println();
+
+  //   // Serial.print(tiltx*100);
+  //   // Serial.print(' ');
+  //   // Serial.print(step1.getSpeedRad());
+  //   // Serial.print(' ');
+  //   // Serial.print(gyroangle/10);
+  //   // Serial.print(' ');
+  //   // Serial.print(theta_n);
+  //   // Serial.println();
+  // }
+
+}