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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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| /* | ||
| * Copyright (C) 2022-2023 Dmitry Ponomarev <[email protected]> | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| */ | ||
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| #include "algorithms.hpp" | ||
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| static const RawCommand RAW_COMMAND_MIN = 0; | ||
| static const RawCommand RAW_COMMAND_MAX = 8191; | ||
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| static const ActuatorCommandValue ACT_COMMAND_MIN = -1.0f; | ||
| static const ActuatorCommandValue ACT_COMMAND_MAX = 1.0f; | ||
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| PwmDurationUs mapRawCommandToPwm(RawCommand command, | ||
| PwmDurationUs min_pwm, | ||
| PwmDurationUs max_pwm, | ||
| PwmDurationUs def_pwm) { | ||
| PwmDurationUs pwm; | ||
| if (command < RAW_COMMAND_MIN || command > RAW_COMMAND_MAX) { | ||
| pwm = def_pwm; | ||
| } else { | ||
| pwm = (PwmDurationUs)mapFloat(command, RAW_COMMAND_MIN, RAW_COMMAND_MAX, min_pwm, max_pwm); | ||
| } | ||
| return pwm; | ||
| } | ||
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| PwmDurationUs mapActuatorCommandToPwm(ActuatorCommandValue command, | ||
| PwmDurationUs min_pwm, | ||
| PwmDurationUs max_pwm, | ||
| PwmDurationUs def_pwm) { | ||
| PwmDurationUs pwm; | ||
| if (command < ACT_COMMAND_MIN || command > ACT_COMMAND_MAX) { | ||
| pwm = def_pwm; | ||
| } else { | ||
| pwm = (PwmDurationUs)mapFloat(command, ACT_COMMAND_MIN, ACT_COMMAND_MAX, min_pwm, max_pwm); | ||
| } | ||
| return pwm; | ||
| } | ||
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| float mapPwmToPct(uint16_t pwm_val, int16_t pwm_min, int16_t pwm_max) { | ||
| auto max = pwm_max; | ||
| auto min = pwm_min; | ||
| if (pwm_min > pwm_max) { | ||
| max = pwm_min; | ||
| min = pwm_max; | ||
| } | ||
| auto scaled_val = (pwm_val - min) * 100.0f / (max - min); | ||
| auto val = std::clamp(scaled_val, 0.f, 100.f); | ||
| return val; | ||
| } | ||
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| float mapFloat(float value, float in_min, float in_max, float out_min, float out_max) { | ||
| float output; | ||
| if (value <= in_min && in_min <= in_max) { | ||
| output = out_min; | ||
| } else if (value >= in_max && in_min <= in_max) { | ||
| output = out_max; | ||
| } else if (out_min == out_max) { | ||
| output = out_min; | ||
| } else { | ||
| output = out_min + (value - in_min) / (in_max - in_min) * (out_max - out_min); | ||
| if (out_min <= out_max) { | ||
| output = std::clamp(output, out_min, out_max); | ||
| } else { | ||
| output = std::clamp(output, out_max, out_min); | ||
| } | ||
| } | ||
| return output; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| /* | ||
| * Copyright (C) 2022-2023 Dmitry Ponomarev <[email protected]> | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| */ | ||
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| #ifndef DEVICES_SERVOS_COMMON_H_ | ||
| #define DEVICES_SERVOS_COMMON_H_ | ||
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| #include <stdbool.h> | ||
| #include <stdint.h> | ||
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| #include <algorithm> | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| typedef uint16_t PwmDurationUs; | ||
| typedef int16_t RawCommand; | ||
| typedef float ActuatorCommandValue; | ||
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| /** | ||
| * @brief Map raw command value (in interval from 0 to 8191) | ||
| * to PWM duration in us (in interval from min to max) | ||
| * @return pwm_duration if input is correct, | ||
| * def_pwm if raw_command value is less than min or higher than max | ||
| */ | ||
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| PwmDurationUs mapRawCommandToPwm(RawCommand rc_value, PwmDurationUs min_pwm, | ||
| PwmDurationUs max_pwm, PwmDurationUs def_pwm); | ||
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| /** | ||
| * @brief Map array command value (in interval from -1.0 to 1.0) | ||
| * to PWM duration in us (in interval from min to max) | ||
| * @return pwm_duration if input is correct, | ||
| * def_pwm if raw_command value is less than min or higher than max | ||
| */ | ||
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| PwmDurationUs mapActuatorCommandToPwm(ActuatorCommandValue ac_value, | ||
| PwmDurationUs min_pwm, PwmDurationUs max_pwm, | ||
| PwmDurationUs def_pwm); | ||
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| /** | ||
| * @brief Map PWM duration in us (in interval from min to max) to pct | ||
| * @return pwm_duration in pct | ||
| */ | ||
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| float mapPwmToPct(uint16_t pwm_val, int16_t pwm_min, int16_t pwm_max); | ||
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| float mapFloat(float value, float in_min, float in_max, float out_min, | ||
| float out_max); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // DEVICES_SERVOS_COMMON_H_ |
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