robin
9a97cf9022
IMU integration (WitMotion HWT905-RS232, doc/06-imu-integration-plan.md): - Phase 1: raw accel/gyro/angle observation, power-on-relative yaw offset - Phase 2: x,y odometry + wheel-vs-IMU omega residual, using a self-fused heading (wheel encoder omega + raw gyro_z average) instead of the IMU's own onboard fused yaw, which field logs showed disagreeing with its own raw gyro sign ~30% of the time during turns - Phase 3: straight-line heading-hold PI trim, active only when steering is centered and no lidar dodge is in progress, capped and field-tuned - Phase 4: whole-body slip detection (commanded vs IMU-measured omega ratio) that temporarily scales down v_x/omega, independent of the per-wheel current-based diagnostics - Phase 5a: k_skid/effective_w replaced with values fitted from real wheel-vs-IMU logs (0.406->0.51, 0.684->0.87) instead of the geometric formula, which field data showed under-driving every turn RC receiver: switched from ttyUSB* guessing to udev-stable device names (ttyMOTOR/ttyRC/ttyIMU), wired through run_4wd.sh and set_low_latency.sh. Motor driver: read motor/driver temperature registers (0x20A4/0x20B0) for proactive overheat visibility in the HUD/CSV. Control fixes: - Airborne-wheel zeroing no longer applies during spin turns, where reaction-torque-driven diagonal load transfer was misclassified as wheels leaving the ground and cutting spin torque in half - jerkLimitedStep's instant-acceleration path now only fires for same-direction speed increases; sign reversals (RC noise/deadzone jitter near a stop, or a genuine direction change) go through the jerk-limited path instead of snapping across zero Auto CSV logging (logs/, gitignored) extended with encoder ticks, IMU, odometry, heading-hold, slip, and temperature columns for field analysis. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
46 lines
2.2 KiB
Bash
Executable File
46 lines
2.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 1-Click Launch Script for C++ 4WD Motor Control with Mid-360S LiDAR Avoidance
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# udev 규칙(/etc/udev/rules.d/99-fori-robot-serial.rules)으로 고정된 심볼릭
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# 링크 사용 — ttyUSB 번호는 꽂는 순서에 따라 바뀌지만 이 이름들은 고정이다.
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PORT="${1:-/dev/ttyMOTOR}"
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RC_PORT="${RC_PORT:-/dev/ttyRC}"
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IMU_PORT="${IMU_PORT:-/dev/ttyIMU}"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR" || exit 1
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echo "=================================================================="
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echo " 🚀 ZLAC8015D 4WD + Livox Mid-360S 라이다 원클릭 런치 시스템"
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echo "=================================================================="
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# 1. USB Latency 1ms 단축 (모터/RC/IMU 포트 전부)
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if [ -f "./set_low_latency.sh" ]; then
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echo "[1/2] USB 시리얼 포트 지연 시간 1ms 최적화 적용 중... (모터: $PORT / RC: $RC_PORT / IMU: $IMU_PORT)"
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./set_low_latency.sh "$PORT"
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./set_low_latency.sh "$RC_PORT"
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./set_low_latency.sh "$IMU_PORT"
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fi
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# 2. C++ 바이너리 존재 여부 확인 및 컴파일
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if [ ! -f "./xbox_motor_control_cpp" ]; then
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echo "[2/2] C++ 바이너리 컴파일 진행 중 (make)..."
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make
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fi
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echo "=================================================================="
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echo " [시작] C++ 100Hz 초저지연 4WD RC(RadioMaster Pocket + XR1) + IMU(HWT905) + 라이다 장애물 회피 시작"
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echo " - 모터 포트: $PORT / RC 수신기 포트: $RC_PORT / IMU 포트: $IMU_PORT"
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echo " - 라이다 기능 비활성화: --no_lidar 옵션 / IMU 비활성화: --no_imu 옵션"
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echo " - 매 주행마다 logs/에 CSV 로그 자동 저장 (끄려면 --no_log)"
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echo " - 비상 정지: CH5 브레이크 스위치 또는 Ctrl+C"
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echo "=================================================================="
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# 3. C++ 4WD 프로그램 실행 (추가 인자 전달 가능. --rc_port/--imu_port를 다시
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# 넘기면 아래 기본값을 덮어쓸 수 있다 — 인자 파싱은 뒤에 온 값이 우선 적용됨)
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if [ $# -gt 1 ]; then
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./xbox_motor_control_cpp --port "$PORT" --rc_port "$RC_PORT" --imu_port "$IMU_PORT" "${@:2}"
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else
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./xbox_motor_control_cpp --port "$PORT" --rc_port "$RC_PORT" --imu_port "$IMU_PORT"
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fi
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