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

docs/diagrams/src/motor_state.wsd

@@ -11,13 +11,11 @@ skinparam state {
 
 state Initialization 
     Initialization : Entry / Stop motor 
-    Initialization : Do / Initialize internal parameters
+    Initialization : Entry / Initialize internal parameters
-    Initialization : Do / Reset speed measurement
+    Initialization : Entry / Reset speed measurement
     Initialization : Do / Wait 2 seconds
     Initialization : Exit / Send Boot-up message
 
-
-
 state Operational 
     Operational : Entry / LED on
     Operational : Do / Run speed controller
@@ -28,9 +26,7 @@ state Stopped
     Stopped : Do / Blink LED at 2 Hz
     Stopped : Exit / LED off
 
-
+Initialization --> Operational : initialization complete
-
-Initialization --> Operational : initialization\n complete
 Operational --> Initialization : reset
 Operational --> Stopped : fault detected
 

include/motor_controller.h

@@ -9,10 +9,19 @@
 class State;
 
 
+// Gildi úr einni keyrslu á hraðastýringunni, til útprentunar
+struct ControlSample
+{
+    double ref_rpm;
+    double actual_rpm;
+    double pwm_actual;
+};
+
+
 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
 
@@ -42,13 +51,6 @@ public:
     );
 
 
-    // void set_states(
-    //     State* initialization,
-    //     State* operational,
-    //     State* stopped
-    // );
-
-
     void begin();
 
     void update();
@@ -67,12 +69,15 @@ public:
     bool fault_active();
 
 
-    void run_speed_controller();
+    // Skilar true ef ný mæling var tekin og sample fyllt út
+    bool run_speed_controller(ControlSample& sample);
 
     void stop_motor();
 
     void reset_speed_measurement();
 
+    void reset_controller();
+
     void led_on();
 
     void led_off();

include/operational_state.h

@@ -3,9 +3,17 @@
 
 #include "state.h"
 
+#include <stdint.h>
+
 
 class OperationalState : public State
 {
+private:
+    static constexpr double SAMPLE_PERIOD_MS = 4.0;
+
+    // uint32_t svo teljarinn flæði ekki yfir eftir ~4 mín (eins og uint16_t)
+    uint32_t sample_count = 0;
+
 public:
     void enter() override;
 

include/p_controller.h

@@ -3,13 +3,14 @@
 
 class P_controller
 {
-private:
+protected:
     double Kp;
 
 public:
     P_controller(double Kp);
-
+    virtual ~P_controller() {}
-    double update(double ref, double actual);
+    virtual double update(double ref, double actual);
+    virtual void reset() {}
 };
 
 #endif

include/pi_controller.h

@@ -0,0 +1,21 @@
+#ifndef PI_CONTROLLER_H
+#define PI_CONTROLLER_H
+
+#include "p_controller.h"
+
+class PI_controller : public P_controller
+{
+    private:
+        static constexpr double U_MAX = 100.0;  // %
+        static constexpr double U_MIN = -100.0; // %
+
+        double Ti;
+        double T;
+        double integral;
+    public:
+        PI_controller(double Kp, double Ti, double T);
+        double update(double ref, double actual) override;
+        void reset() override;
+};
+
+#endif

platformio.ini

@@ -14,4 +14,12 @@ board = nanoatmega328new
 framework = arduino
 
 monitor_speed = 115200
+test_framework = unity
+test_build_src = yes
 
+
+; [env:native]
+; platform = native
+; test_framework = unity
+; test_build_src = yes
+; build_src_filter = -<*> +<p_controller.cpp> +<pi_controller.cpp>

scripts/plot_step_response.py

@@ -1,46 +1,113 @@
 #!/usr/bin/env python3
 """
 Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
-(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
+i Operational state (dalkar: time_ms, ref_rpm, actual_rpm, pwm_actual).
 
-pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
+pwm_actual = stýrimerkid klippt vid +-255, þ.e. þad sem raunverulega
-pwm_actual    = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
+             var sent a motor.set() / vélbúnaðinn
-                var sent a motor.set() / vélbúnaðinn
+
+Hausinn er prentadur i hvert skipti sem farid er inn i Operational, svo ein
+skra getur innihaldid nokkrar keyrslur. Adeins sidasta keyrslan er teiknud.
+
+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
 """
 import sys
 import csv
+import statistics
 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():
+    return {key: [] for key in COLUMNS}
+
+
 def load_csv(path):
-    cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
+    cols = empty_cols()
-            "pwm_requested": [], "pwm_actual": []}
+    header = None
     with open(path, newline="") as f:
-        reader = csv.DictReader(f)
+        for row in csv.reader(f):
-        for row in reader:
+            if row and row[0].strip() == "time_ms":
-            try:
+                header = [name.strip() for name in row]
-                for key in cols:
+                header = [ALIASES.get(name, name) for name in header]
-                    cols[key].append(float(row[key]))
+                missing = [key for key in REQUIRED if key not in header]
-            except (ValueError, KeyError):
+                if missing:
-                # sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
+                    sys.exit(f"Dalka vantar i haus {row}: {missing}")
-                for key in cols:
-                    if len(cols[key]) > len(cols["time_ms"]):
-                        cols[key].pop()
                 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 if key in header}
+            except (ValueError, IndexError):
+                # sleppir linum sem eru ekki gild data (t.d. "State: ...")
+                continue
+
+            # Timinn byrjar aftur a 0 -> ny keyrsla, hendum theirri gomlu
+            if cols["time_ms"] and values["time_ms"] <= cols["time_ms"][-1]:
+                cols = empty_cols()
+
+            for key in values:
+                cols[key].append(values[key])
     return cols
 
 
-def plot(cols, out_path, title_suffix=""):
+def estimate_oscillation(time_s, actual_rpm):
+    """
+    Metur sveiflutima ut fra uppleid i gegnum medaltal seinni helmings
+    gagnanna (fyrri helmingur er transient). Hysteresis kemur i veg fyrir
+    ad sudid i rpm-maelingunni gefi falskar skurdpunkta.
+    Skilar (Tu [s], utslag [rpm]) eda None ef engin skyr sveifla.
+    """
+    half = len(actual_rpm) // 2
+    t = time_s[half:]
+    y = actual_rpm[half:]
+    if len(y) < 20:
+        return None
+
+    mean = statistics.fmean(y)
+    band = 0.25 * statistics.pstdev(y)
+    if band == 0:
+        return None
+
+    crossings = []
+    below = y[0] < mean - band
+    for ti, yi in zip(t, y):
+        if below and yi > mean + band:
+            crossings.append(ti)
+            below = False
+        elif not below and yi < mean - band:
+            below = True
+
+    if len(crossings) < 3:
+        return None
+
+    periods = [b - a for a, b in zip(crossings, crossings[1:])]
+    amplitude = (max(y) - min(y)) / 2.0
+    return statistics.fmean(periods), amplitude
+
+
+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_requested = cols["pwm_requested"]
     pwm_actual = cols["pwm_actual"]
+    show_pwm = show_pwm and len(pwm_actual) == len(time_s)
 
     fig, ax1 = plt.subplots(figsize=(10, 5))
 
@@ -52,14 +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_requested, label="PWM requested (unclamped)",
+    if show_pwm:
-              color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
+        ax2 = ax1.twinx()
-    ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
+        ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
-              color="#d62728", linewidth=1.4)
+                  color="#d62728", linewidth=1.4)
-    ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
+        ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
-    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]")
+        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)
@@ -69,12 +139,23 @@ def plot(cols, out_path, title_suffix=""):
         ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
                   fontsize=9, va="bottom")
 
-    lines1, labels1 = ax1.get_legend_handles_labels()
+    osc = estimate_oscillation(time_s, actual_rpm)
-    lines2, labels2 = ax2.get_legend_handles_labels()
+    # if osc is not None:
-    ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
+    #     tu, amplitude = osc
-               fontsize=8)
+    #     print(f"Sveifla: Tu = {tu * 1000:.1f} ms, utslag = +-{amplitude:.2f} RPM")
+    #     ax1.text(0.99, 0.98, f"Tu ≈ {tu * 1000:.1f} ms\n"
+    #                           f"amplitude ≈ ±{amplitude:.2f} RPM",
+    #               transform=ax1.transAxes, fontsize=9, va="top", ha="right",
+    #               bbox=dict(facecolor="white", alpha=0.8, edgecolor="#cccccc"))
+    # else:
+    #     print("Engin skyr sveifla fannst i seinni helmingi gagnanna")
 
-    title = "Double step response: RPM and PWM over time"
+    ax1.legend(lines, labels, loc="lower right", fontsize=8)
+
+    if show_pwm:
+        title = "Step response: RPM and PWM over time"
+    else:
+        title = "Step response: RPM over time"
     if title_suffix:
         title += f" ({title_suffix})"
     fig.suptitle(title)
@@ -84,8 +165,12 @@ def plot(cols, out_path, title_suffix=""):
 
 
 if __name__ == "__main__":
-    in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
+    show_pwm = "--no-pwm" not in sys.argv
-    out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.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)
-    plot(data, out_path, title_suffix)
+    if not data["time_ms"]:
+        sys.exit(f"Engin gogn fundust i {in_path}")
+    plot(data, out_path, title_suffix, show_pwm)

src/main.cpp

@@ -1,9 +1,12 @@
+// main.cpp er sleppt i test-build (pio test) svo setup()/loop() rekist ekki a prof
+#ifndef PIO_UNIT_TESTING
+
 #include <Arduino.h>
 #include <avr/interrupt.h>
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
-#include "p_controller.h"
+#include "pi_controller.h"
 
 #include "motor_controller.h"
 
@@ -16,9 +19,12 @@ RotaryEncoderDriver encoder;
 
 MotorDriver motor;
 
-const double KP = 12.5;
+const double Kp = 10.125; // Ku * 0.45
+const double Ti = 0.0334; //  Tu * 0.83 37
+const double T = 0.004; // 0.004
 
-P_controller controller(KP);
+// P_controller controller(Kp);
+PI_controller controller(Kp, Ti, T);
 
 
 InitializationState initialization_state;
@@ -53,7 +59,6 @@ int main()
 
     sei();
     
-
     // motor_controller.set_states(
     //     &initialization_state,
     //     &operational_state,
@@ -87,3 +92,4 @@ int main()
 // int main(){
 //     return 0;
 // }
+#endif // PIO_UNIT_TESTING

src/motor_controller.cpp

@@ -92,20 +92,39 @@ void MotorController::to_operational()
 }
 
 
-void MotorController::run_speed_controller()
+bool MotorController::run_speed_controller(ControlSample& sample)
 {
-    if (encoder.new_speed_available())
+    if (!encoder.new_speed_available())
     {
-        double actual = encoder.rpm();
+        return false;
-
-        double pwm_percent =
-            controller.update(reference_rpm, actual);
-
-        double pwm =
-            pwm_percent * PWM_PER_PERCENT;
-
-        motor.set(pwm);
     }
+
+    double actual = encoder.rpm();
+
+    double pwm_percent =
+        controller.update(reference_rpm, actual);
+
+    double pwm =
+        pwm_percent * PWM_PER_PERCENT;
+
+    // Klippt hér svo pwm_actual sé nákvæmlega það sem fer á mótorinn
+    if (pwm > 255.0)
+    {
+        pwm = 255.0;
+    }
+
+    if (pwm < -255.0)
+    {
+        pwm = -255.0;
+    }
+
+    motor.set(pwm);
+
+    sample.ref_rpm = reference_rpm;
+    sample.actual_rpm = actual;
+    sample.pwm_actual = pwm;
+
+    return true;
 }
 
 
@@ -120,6 +139,11 @@ void MotorController::reset_speed_measurement()
     encoder.reset_speed_measurement();
 }
 
+void MotorController::reset_controller()
+{
+    controller.reset();
+}
+
 void MotorController::to_stopped()
 {
     transition_to(stopped_state);

src/operational_state.cpp

@@ -8,7 +8,14 @@ void OperationalState::enter()
 {
     Serial.println("State: Operational");
 
+    context->reset_controller();
+
     context->led_on();
+
+    // Tíminn byrjar á 0 í hvert skipti sem farið er inn í Operational
+    sample_count = 0;
+
+    Serial.println("time_ms,ref_rpm,actual_rpm");
 }
 
 // Part 1 
@@ -31,7 +38,20 @@ void OperationalState::update()
         return;
     }
 
-    context->run_speed_controller();
+    ControlSample sample;
+
+    if (context->run_speed_controller(sample))
+    {
+        sample_count++;
+
+        Serial.print(sample_count * SAMPLE_PERIOD_MS, 1);
+        Serial.print(",");
+        Serial.print(sample.ref_rpm, 1);
+        Serial.print(",");
+        Serial.println(sample.actual_rpm, 2);
+        // Serial.print(",");
+        // Serial.println(sample.pwm_actual, 1);
+    }
 }
 
 

src/pi_controller.cpp

@@ -0,0 +1,32 @@
+#include "pi_controller.h"
+
+PI_controller::PI_controller(double Kp, double Ti, double T) : P_controller(Kp), Ti(Ti), T(T), integral(0.0)
+{
+}
+
+double PI_controller::update(double ref, double actual)
+{
+    double e = ref - actual;
+    double new_integral = integral + e * T;
+    double u = Kp * (e + new_integral / Ti);
+
+    if (u > U_MAX)
+    {
+        u = U_MAX;
+    }
+    else if (u < U_MIN)
+    {
+        u = U_MIN;
+    }
+    else
+    {
+        integral = new_integral;
+    }
+    return u;
+    // return 0.0;
+}
+
+void PI_controller::reset()
+{
+    integral = 0.0;
+}

test/test_pi_controller/test_main.cpp

@@ -0,0 +1,150 @@
+#include <unity.h>
+
+// #ifdef ARDUINO
+#include <Arduino.h>
+// #endif
+
+#include "p_controller.h"
+#include "pi_controller.h"
+
+static const double KP = 2.0;
+static const double TI = 1.0;
+static const double T = 0.1;
+static const double TOL = 1e-4;  // double er 32-bita float a AVR
+
+// void setUp(void) {}
+// void tearDown(void) {}
+
+// Normal flow: engin villa -> ekkert úttak
+void test_zero_error_gives_zero_output(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
+}
+
+// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
+void test_first_step(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
+void test_integral_accumulates(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    double u = 0.0;
+    for (int n = 1; n <= 5; n++)
+    {
+        u = c.update(e, 0.0);
+        TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
+    }
+}
+
+// Normal flow: þegar villan er orðin 0 heldur integralið úttakinu uppi
+void test_output_held_when_error_zero(void)
+{
+    PI_controller c(KP, TI, T);
+    double e = 5.0;
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(e, 0.0);
+    }
+    double E = 5 * e * T;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
+}
+
+// Alt flow: villa langt utan getu -> mettun í +100 %
+void test_saturates_high(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
+}
+
+// Alt flow: mettun í -100 %
+void test_saturates_low(void)
+{
+    PI_controller c(KP, TI, T);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
+}
+
+// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
+// strax að gefa úttak undir mettun (integralið óx ekki)
+void test_no_integral_windup(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 1000; n++)
+    {
+        c.update(10000.0, 0.0);
+    }
+    double u = c.update(0.0, 1.0);  // e = -1
+    TEST_ASSERT_TRUE(u < 0.0);
+}
+
+// Alt flow: reset (stopped -> operational) hreinsar integralið
+void test_reset_clears_integral(void)
+{
+    PI_controller c(KP, TI, T);
+    for (int n = 0; n < 5; n++)
+    {
+        c.update(5.0, 0.0);
+    }
+    c.reset();
+    TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
+}
+
+// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
+void test_polymorphic_update(void)
+{
+    PI_controller pi(KP, TI, T);
+    P_controller& c = pi;
+    double e = 5.0;
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
+}
+
+// P_controller hegðar sér óbreytt
+void test_p_controller_unchanged(void)
+{
+    P_controller c(KP);
+    TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
+}
+
+void setup()
+{
+    // init();
+    delay(2000);
+    UNITY_BEGIN();
+    RUN_TEST(test_zero_error_gives_zero_output);
+    RUN_TEST(test_first_step);
+    RUN_TEST(test_integral_accumulates);
+    RUN_TEST(test_output_held_when_error_zero);
+    RUN_TEST(test_saturates_high);
+    RUN_TEST(test_saturates_low);
+    RUN_TEST(test_no_integral_windup);
+    RUN_TEST(test_reset_clears_integral);
+    RUN_TEST(test_polymorphic_update);
+    RUN_TEST(test_p_controller_unchanged);
+    // return UNITY_END();
+    UNITY_END();
+}
+
+void loop() {}
+
+// #ifdef ARDUINO
+// void setup()
+// {
+//     delay(2000);  // bida eftir serial tengingu eftir reset
+//     run_tests();
+// }
+
+// void loop()
+// {
+// }
+// #else
+// int main(int argc, char** argv)
+// {
+//     return run_tests();
+// }
+// #endif