Tune-aði PI stýringuna og plot-aði myndir

.gitignore

@@ -4,8 +4,12 @@ __pycache__
 *.csv
 *.typ
 *.pdf
+*.py
+*.png
+*.csv
+scripts
 
-# Vélarsértækar skrár sem PlatformIO býr til sjálft
+# Skrár sem PlatformIO býr til sjálft
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 compile_commands.json

include/motor_controller.h

@@ -21,7 +21,7 @@ struct ControlSample
 class MotorController
 {
 private:
-    static constexpr double DEFAULT_REFERENCE_RPM = 40.0;
+    static constexpr double DEFAULT_REFERENCE_RPM = 25.0;
     static constexpr double PWM_PER_PERCENT = 255.0 / 100.0;
     static const uint8_t LED_PIN = 5;   // PB5 = D13 = LED_BUILTIN
 

scripts/plot_step_response.py

@@ -13,7 +13,9 @@ Skriptan metur lika sveiflutima (Tu) og utslag ef kerfid sveiflast, sem
 nytist til ad finna Ku/Tu fyrir Ziegler-Nichols.
 
 Notkun:
-    python plot_step_response.py [inntak.csv] [uttak.png] [titill]
+    python plot_step_response.py [inntak.csv] [uttak.png] [titill] [--no-pwm]
+
+--no-pwm teiknar bara RPM (PWM-dalkurinn ma lika vanta i CSV-skranni)
 
 Sjalfgefid: data/step_response.csv -> data/step_response.png
 """
@@ -24,6 +26,10 @@ import matplotlib.pyplot as plt
 
 
 COLUMNS = ["time_ms", "ref_rpm", "actual_rpm", "pwm_actual"]
+REQUIRED = ["time_ms", "ref_rpm", "actual_rpm"]
+
+# Onnur nofn sem eldri utgafur firmware-sins hafa notad fyrir sama dalk
+ALIASES = {"pwm": "pwm_actual"}
 
 
 def empty_cols():
@@ -37,13 +43,17 @@ def load_csv(path):
         for row in csv.reader(f):
             if row and row[0].strip() == "time_ms":
                 header = [name.strip() for name in row]
+                header = [ALIASES.get(name, name) for name in header]
+                missing = [key for key in REQUIRED if key not in header]
+                if missing:
+                    sys.exit(f"Dalka vantar i haus {row}: {missing}")
                 continue
             if header is None:
                 # rusl a undan fyrsta haus (t.d. "State: Initialization")
                 continue
             try:
                 values = {key: float(row[header.index(key)])
-                          for key in COLUMNS}
+                          for key in COLUMNS if key in header}
             except (ValueError, IndexError):
                 # sleppir linum sem eru ekki gild data (t.d. "State: ...")
                 continue
@@ -52,7 +62,7 @@ def load_csv(path):
             if cols["time_ms"] and values["time_ms"] <= cols["time_ms"][-1]:
                 cols = empty_cols()
 
-            for key in COLUMNS:
+            for key in values:
                 cols[key].append(values[key])
     return cols
 
@@ -92,11 +102,12 @@ def estimate_oscillation(time_s, actual_rpm):
     return statistics.fmean(periods), amplitude
 
 
-def plot(cols, out_path, title_suffix=""):
+def plot(cols, out_path, title_suffix="", show_pwm=True):
     time_s = [t / 1000.0 for t in cols["time_ms"]]
     ref_rpm = cols["ref_rpm"]
     actual_rpm = cols["actual_rpm"]
     pwm_actual = cols["pwm_actual"]
+    show_pwm = show_pwm and len(pwm_actual) == len(time_s)
 
     fig, ax1 = plt.subplots(figsize=(10, 5))
 
@@ -108,12 +119,17 @@ def plot(cols, out_path, title_suffix=""):
     ax1.set_ylabel("Angular velocity [RPM]")
     ax1.grid(True, alpha=0.3)
 
-    ax2 = ax1.twinx()
+    lines, labels = ax1.get_legend_handles_labels()
-    ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
+    if show_pwm:
-              color="#d62728", linewidth=1.4)
+        ax2 = ax1.twinx()
-    ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
+        ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
-    ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
+                  color="#d62728", linewidth=1.4)
-    ax2.set_ylabel("PWM [-255, 255]")
+        ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
+        ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
+        ax2.set_ylabel("PWM [-255, 255]")
+        lines2, labels2 = ax2.get_legend_handles_labels()
+        lines += lines2
+        labels += labels2
 
     # Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
     step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
@@ -124,22 +140,22 @@ def plot(cols, out_path, title_suffix=""):
                   fontsize=9, va="bottom")
 
     osc = estimate_oscillation(time_s, actual_rpm)
-    if osc is not None:
+    # if osc is not None:
-        tu, amplitude = osc
+    #     tu, amplitude = osc
-        print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
+    #     print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
-        ax1.text(0.01, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
+    #     ax1.text(0.99, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
-                              f"amplitude ≈ ±{amplitude:.2f} RPM",
+    #                           f"amplitude ≈ ±{amplitude:.2f} RPM",
-                  transform=ax1.transAxes, fontsize=9, va="top",
+    #               transform=ax1.transAxes, fontsize=9, va="top", ha="right",
-                  bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
+    #               bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
+    # else:
+    #     print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
+
+    ax1.legend(lines, labels, loc="lower right", fontsize=8)
+
+    if show_pwm:
+        title = "Step response: RPM and PWM over time"
     else:
-        print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
+        title = "Step response: RPM over time"
-
-    lines1, labels1 = ax1.get_legend_handles_labels()
-    lines2, labels2 = ax2.get_legend_handles_labels()
-    ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
-               fontsize=8)
-
-    title = "Step response: RPM and PWM over time"
     if title_suffix:
         title += f" ({title_suffix})"
     fig.suptitle(title)
@@ -149,10 +165,12 @@ def plot(cols, out_path, title_suffix=""):
 
 
 if __name__ == "__main__":
-    in_path = sys.argv[1] if len(sys.argv) > 1 else "data/step_response.csv"
+    show_pwm = "--no-pwm" not in sys.argv
-    out_path = sys.argv[2] if len(sys.argv) > 2 else "data/step_response.png"
+    args = [a for a in sys.argv[1:] if a != "--no-pwm"]
-    title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
+    in_path = args[0] if len(args) > 0 else "data/step_response.csv"
+    out_path = args[1] if len(args) > 1 else "data/step_response.png"
+    title_suffix = args[2] if len(args) > 2 else ""
     data = load_csv(in_path)
     if not data["time_ms"]:
         sys.exit(f"Engin gogn fundust i {in_path}")
-    plot(data, out_path, title_suffix)
+    plot(data, out_path, title_suffix, show_pwm)

src/main.cpp

@@ -19,9 +19,9 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double Kp = 45.0; // Ziegler-Nichols Method 45.0
+const double Kp = 10.125; // Ku * 0.45
-const double Ti = 0.0; // 0.226
+const double Ti = 0.0334; //  Tu * 0.83 37
-const double T = 0.0; // 0.004
+const double T = 0.004; // 0.004
 
 // P_controller controller(Kp);
 PI_controller controller(Kp, Ti, T);

src/operational_state.cpp

@@ -15,7 +15,7 @@ void OperationalState::enter()
     // Tíminn byrjar á 0 í hvert skipti sem farið er inn í Operational
     sample_count = 0;
 
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm");
+    Serial.println("time_ms,ref_rpm,actual_rpm");
 }
 
 // Part 1 
@@ -48,9 +48,9 @@ void OperationalState::update()
         Serial.print(",");
         Serial.print(sample.ref_rpm, 1);
         Serial.print(",");
-        Serial.print(sample.actual_rpm, 2);
+        Serial.println(sample.actual_rpm, 2);
-        Serial.print(",");
+        // Serial.print(",");
-        Serial.println(sample.pwm_actual, 1);
+        // Serial.println(sample.pwm_actual, 1);
     }
 }