From 1f572dc0e52a5aae911fcc59cc80409ed77ec0f8 Mon Sep 17 00:00:00 2001 From: Franchioping Date: Sat, 13 Dec 2025 15:01:04 +0000 Subject: [PATCH] graphing data. PID controller kinda? No params yet --- analyze.py | 43 + flake.nix | 6 + logs/bad_proportional_logs.csv | 3821 +++ ...bad_proportional_logs_with_diferential.csv | 3311 ++ logs/good_prop[.05,8.0,.05].csv | 5261 +++ logs/good_prop[.1,10.0,.1].csv | 6631 ++++ ...example[.13,3.0,.13]_proportional_only.csv | 28401 ++++++++++++++++ ...example[.13,6.0,.13]_proportional_only.csv | 8251 +++++ ...example[.15,6.0,.15]_proportional_only.csv | 7601 +++++ pid_logs.csv | 4921 +++ src/drone.rs | 2 +- src/drone/pidcontroller.rs | 102 +- src/engine.rs | 2 +- src/main.rs | 26 +- 14 files changed, 68356 insertions(+), 23 deletions(-) create mode 100644 analyze.py create mode 100644 logs/bad_proportional_logs.csv create mode 100644 logs/bad_proportional_logs_with_diferential.csv create mode 100644 logs/good_prop[.05,8.0,.05].csv create mode 100644 logs/good_prop[.1,10.0,.1].csv create mode 100644 logs/med_overshoot_example[.13,3.0,.13]_proportional_only.csv create mode 100644 logs/med_overshoot_example[.13,6.0,.13]_proportional_only.csv create mode 100644 logs/overshoot_example[.15,6.0,.15]_proportional_only.csv create mode 100644 pid_logs.csv diff --git a/analyze.py b/analyze.py new file mode 100644 index 0000000..0814779 --- /dev/null +++ b/analyze.py @@ -0,0 +1,43 @@ +import pandas as pd +import matplotlib.pyplot as plt + +# Load the CSV exported by the PID controller +df = pd.read_csv("pid_logs.csv") + +# --- Plot target vs current --- +for coord in ["x", "y", "z"]: + plt.figure() + plt.plot(df["time"], df["target_" + coord], label="target_" + coord) + plt.plot(df["time"], df["current_" + coord], label="current_" + coord) + plt.xlabel("Time (s)") + plt.ylabel("Angular velocity") + plt.title(f"Target vs Current Angular Velocity ({coord})") + plt.legend() + plt.grid(True) + plt.show() + +plt.figure() +plt.plot(df["time"], df["target_x"], label="target_x") +plt.plot(df["time"], df["current_x"], label="current_x") +plt.plot(df["time"], df["target_y"], label="target_y") +plt.plot(df["time"], df["current_y"], label="current_y") +plt.plot(df["time"], df["target_z"], label="target_z") +plt.plot(df["time"], df["current_z"], label="current_z") +plt.xlabel("Time (s)") +plt.ylabel("Angular velocity") +plt.title("Target vs Current Angular Velocity") +plt.legend() +plt.grid(True) +plt.show() +# --- Plot error over time --- +plt.figure() +plt.plot(df["time"], df["error_x"], label="error_x") +plt.plot(df["time"], df["error_y"], label="error_y") +plt.plot(df["time"], df["error_z"], label="error_z") +plt.xlabel("Time (s)") +plt.ylabel("Error") +plt.title("PID Error Over Time") +plt.legend() +plt.grid(True) +plt.show() + diff --git a/flake.nix b/flake.nix index 33974ed..b92ec6e 100644 --- a/flake.nix +++ b/flake.nix @@ -31,6 +31,12 @@ glfw cmake + (pkgs.python3.withPackages (python-pkgs: + with python-pkgs; [ + # select Python packages here + pandas + matplotlib + ])) ]; shellHook = '' diff --git a/logs/bad_proportional_logs.csv 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7fd286e..411222c 100644 --- a/src/drone.rs +++ b/src/drone.rs @@ -136,7 +136,7 @@ impl Drone { .iter() .enumerate() { - let throttle = throttles[i].clamp(-1.0, 1.0); + let throttle = throttles[i].clamp(0.0, 1.0); let thrust = self.motor_characteristics.max_thrust * throttle; let torque = self.motor_characteristics.max_torque * throttle; diff --git a/src/drone/pidcontroller.rs b/src/drone/pidcontroller.rs index fa85d37..41642b3 100644 --- a/src/drone/pidcontroller.rs +++ b/src/drone/pidcontroller.rs @@ -1,45 +1,85 @@ -use nalgebra::{self as na, Vector3}; -use rapier3d::prelude as rp; -use std::{any::Any, f32, io::PipeReader}; +use nalgebra::{self as na, vector}; +use std::{any::Any, f32}; use crate::drone::controller::DroneController; pub use crate::drone::controller::JoystickInput; use crate::drone::MotorCharacteristics; +const PROPORTIONAL_ONLY: bool = false; + #[derive(Default)] -pub struct PControllerState { +pub struct PIDControllerState { last_time: f32, current_time: f32, last_rotation: na::Unit>, current_rotation: na::Unit>, angular_velocity: na::Vector3, + last_error: na::Vector3, + error_sum: na::Vector3, + + pub log_time: Vec, + pub log_target: Vec>, + pub log_current: Vec>, + pub log_error: Vec>, } -impl PControllerState { +impl PIDControllerState { pub fn dt(&self) -> f32 { return self.current_time - self.last_time; } } -pub struct PController { +pub struct PIDController { input: JoystickInput, pub target_rate: f32, + pub proportional_multiplier: na::Vector3, + pub integral_multiplier: na::Vector3, + pub diferential_multiplier: na::Vector3, pub multiply_mode: bool, - state: PControllerState, + pub state: PIDControllerState, } -impl Default for PController { +impl Default for PIDController { fn default() -> Self { Self { input: JoystickInput::default(), target_rate: f32::consts::PI, state: Default::default(), multiply_mode: false, + proportional_multiplier: vector![0.13, 3.0, 0.13], + integral_multiplier: vector![0.0, 0.0, 0.0], + diferential_multiplier: vector![0.001, 0.01, 0.001], } } } -impl PController { +impl PIDController { + /// Save log buffers to a CSV file + pub fn save_logs_to_csv(&self, path: &str) -> std::io::Result<()> { + use std::fs::File; + use std::io::Write; + + let mut file = File::create(path)?; + writeln!( + file, + "time,target_x,target_y,target_z,current_x,current_y,current_z,error_x,error_y,error_z" + )?; + + for i in 0..self.state.log_time.len() { + let t = self.state.log_time[i]; + let tg = self.state.log_target[i]; + let cur = self.state.log_current[i]; + let err = self.state.log_error[i]; + writeln!( + file, + "{},{},{},{},{},{},{},{},{},{}", + t, tg.x, tg.y, tg.z, cur.x, cur.y, cur.z, err.x, err.y, err.z + )?; + } + + Ok(()) + } + pub fn set_input(&mut self, input: JoystickInput) { self.input = input; } @@ -57,7 +97,7 @@ impl PController { } } -impl DroneController for PController { +impl DroneController for PIDController { fn set_rotation(&mut self, rotation: nalgebra::Unit>) { self.state.last_rotation = self.state.current_rotation; self.state.current_rotation = rotation; @@ -75,12 +115,44 @@ impl DroneController for PController { let current = rot.inverse().transform_vector(&self.get_angular_velocity()); let target = self.get_desired_angular_velocity(); - let diff = target - current; + let error: na::Vector3 = target - current; let throttle = self.input.throttle_input; - let roll = diff.z * 0.01; - let pitch = diff.x * 0.01; - let yaw = diff.y; + self.state.log_time.push(self.state.current_time); + self.state.log_target.push(target); + self.state.log_current.push(current); + self.state.log_error.push(error); + + let error_dif: na::Vector3 = error - self.state.last_error; + + let forces_to_apply = match PROPORTIONAL_ONLY { + true => { + vector![ + error.x * self.proportional_multiplier.x, + error.y * self.proportional_multiplier.y, + error.z * self.proportional_multiplier.z + ] + } + false => { + vector![ + error.x * self.proportional_multiplier.x + + self.state.error_sum.x * self.integral_multiplier.x + + error_dif.x * self.diferential_multiplier.x, + error.y * self.proportional_multiplier.y + + self.state.error_sum.y * self.integral_multiplier.y + + error_dif.y * self.diferential_multiplier.y, + error.z * self.proportional_multiplier.z + + self.state.error_sum.z * self.integral_multiplier.z + + error_dif.z * self.diferential_multiplier.z, + ] + } + }; + self.state.error_sum += error; + self.state.last_error = error; + + let roll = forces_to_apply.z; + let pitch = forces_to_apply.x; + let yaw = forces_to_apply.y; let mut motors: [f32; 4] = match self.multiply_mode { true => { @@ -96,7 +168,7 @@ impl DroneController for PController { t } false => { - let mut t = [ + let t = [ throttle + yaw - pitch + roll, throttle - yaw - pitch - roll, throttle + yaw + pitch - roll, diff --git a/src/engine.rs b/src/engine.rs index 452feff..da7d12b 100644 --- a/src/engine.rs +++ b/src/engine.rs @@ -122,7 +122,7 @@ impl Default for World { fn default() -> Self { let gravity: na::Vector3 = rp::vector![0.0, -9.81, 0.0]; let mut integration_parameters = rp::IntegrationParameters::default(); - integration_parameters.set_inv_dt(60.0); + integration_parameters.set_inv_dt(600.0); let physics_pipeline = rp::PhysicsPipeline::new(); let island_manager = rp::IslandManager::new(); let broad_phase = rp::DefaultBroadPhase::new(); diff --git a/src/main.rs b/src/main.rs index 9bccea0..c80d5c2 100644 --- a/src/main.rs +++ b/src/main.rs @@ -40,7 +40,7 @@ async fn main() { None, ); - let mut drone_controller = drone::pidcontroller::PController::default(); + let mut drone_controller = drone::pidcontroller::PIDController::default(); drone_controller.set_input(JoystickInput { throttle_input: 0.75, yaw_input: 0.4, @@ -91,6 +91,9 @@ async fn main() { renderer.update_light(&world); } + if mq::is_key_pressed(mq::KeyCode::Q) { + break; + } if mq::is_key_pressed(mq::KeyCode::C) { add_objects(&mut world); } @@ -132,7 +135,7 @@ async fn main() { match drone_obj .controller .as_mut_any() - .downcast_mut::() + .downcast_mut::() { Some(cont) => { cont.set_input(input); @@ -148,12 +151,23 @@ async fn main() { // Rendering renderer.draw(&mut world); - if world.tick % (60 / 30) == 0 { - renderer.update_light(&world); - world.clear_ofb(); + if world.tick % (20) == 0 { + // renderer.update_light(&world); + // world.clear_ofb(); + mq::next_frame().await; } - mq::next_frame().await; } + + match drone_obj + .controller + .as_mut_any() + .downcast_mut::() + { + Some(cont) => { + let _ = cont.save_logs_to_csv("./pid_logs.csv"); + } + None => {} + }; } fn add_objects(world: &mut World) {