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Display calculated max accel in settings (#843)
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@mjansen4857
mjansen4857 authored Oct 8, 2024
1 parent ac8a15b commit e532ff2
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Showing 2 changed files with 179 additions and 29 deletions.
143 changes: 135 additions & 8 deletions lib/widgets/dialogs/settings_dialog.dart
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
import 'dart:io';
import 'dart:math';

import 'package:flutter/material.dart';
import 'package:flutter/services.dart';
Expand Down Expand Up @@ -57,7 +58,9 @@ class _SettingsDialogState extends State<SettingsDialog> {
late FieldImage _selectedField;
late Color _teamColor;
late String _pplibClientHost;

late num _optimalCurrentLimit;
late num _maxAccel;

@override
void initState() {
Expand Down Expand Up @@ -105,6 +108,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
Defaults.ntServerAddress;

_optimalCurrentLimit = _calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
}

@override
Expand Down Expand Up @@ -180,6 +184,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
_mass = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
Expand Down Expand Up @@ -265,6 +270,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
_wheelRadius = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
Expand All @@ -285,6 +291,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
_driveGearing = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
Expand All @@ -307,6 +314,9 @@ class _SettingsDialogState extends State<SettingsDialog> {
PrefsKeys.maxDriveSpeed, value.toDouble());
setState(() {
_maxDriveSpeed = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
Expand All @@ -327,6 +337,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
_wheelCOF = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
Expand Down Expand Up @@ -381,6 +392,8 @@ class _SettingsDialogState extends State<SettingsDialog> {
_driveMotor = newValue;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel =
_calculateMaxAccel();
});
widget.prefs.setString(
PrefsKeys.driveMotor,
Expand Down Expand Up @@ -430,6 +443,54 @@ class _SettingsDialogState extends State<SettingsDialog> {
),
),
),
Tooltip(
richMessage: WidgetSpan(
alignment:
PlaceholderAlignment.baseline,
baseline: TextBaseline.alphabetic,
child: Container(
constraints: const BoxConstraints(
maxWidth: 250),
child: Text(
'The real max acceleration of the robot, calculated from the above values. If this is too slow, ensure that your True Max Drive Speed is correct. This should be the actual measured max speed of the robot under load.',
style: TextStyle(
color:
colorScheme.onSurfaceVariant,
),
),
),
),
decoration: BoxDecoration(
color:
colorScheme.surfaceContainerHighest,
borderRadius: const BorderRadius.all(
Radius.circular(4)),
),
child: Row(
mainAxisAlignment:
MainAxisAlignment.center,
children: [
const Icon(
Icons.help_outline,
size: 16.0,
color: Colors.grey,
),
const SizedBox(width: 2),
Padding(
padding: const EdgeInsets.only(
bottom: 2),
child: Text(
'Max Accel: ${_maxAccel.toStringAsFixed(1)}M/S²',
style: TextStyle(
color: (_maxAccel < 3)
? colorScheme.error
: colorScheme.onSurface,
),
),
),
],
),
),
],
),
Padding(
Expand Down Expand Up @@ -475,18 +536,55 @@ class _SettingsDialogState extends State<SettingsDialog> {
value.roundToDouble());
setState(() {
_currentLimit = value.roundToDouble();
_maxAccel = _calculateMaxAccel();
});
}
widget.onSettingsChanged();
},
),
Text(
'Max Optimal Limit: ${_optimalCurrentLimit.toStringAsFixed(0)}A',
style: TextStyle(
color: (_optimalCurrentLimit.round() <
_currentLimit.round())
? colorScheme.error
: colorScheme.onSurface,
const SizedBox(height: 4),
Tooltip(
richMessage: WidgetSpan(
alignment: PlaceholderAlignment.baseline,
baseline: TextBaseline.alphabetic,
child: Container(
constraints:
const BoxConstraints(maxWidth: 250),
child: Text(
'The maximum current limit that would still prevent the wheels from slipping under maximum acceleration.',
style: TextStyle(
color: colorScheme.onSurfaceVariant,
),
),
),
),
decoration: BoxDecoration(
color: colorScheme.surfaceContainerHighest,
borderRadius:
const BorderRadius.all(Radius.circular(4)),
),
child: Row(
mainAxisAlignment: MainAxisAlignment.center,
children: [
const Icon(
Icons.help_outline,
size: 16.0,
color: Colors.grey,
),
const SizedBox(width: 2),
Padding(
padding: const EdgeInsets.only(bottom: 2),
child: Text(
'Max Optimal Limit: ${_optimalCurrentLimit.toStringAsFixed(0)}A',
style: TextStyle(
color: (_optimalCurrentLimit.round() <
_currentLimit.round())
? colorScheme.error
: colorScheme.onSurface,
),
),
),
],
),
),
],
Expand Down Expand Up @@ -657,6 +755,7 @@ class _SettingsDialogState extends State<SettingsDialog> {
_holonomicMode = value;
_optimalCurrentLimit =
_calculateOptimalCurrentLimit();
_maxAccel = _calculateMaxAccel();
});
widget.onSettingsChanged();
},
Expand Down Expand Up @@ -984,8 +1083,36 @@ class _SettingsDialogState extends State<SettingsDialog> {
final int numMotors = _holonomicMode ? 1 : 2;
final DCMotor driveMotor =
DCMotor.fromString(_driveMotor, numMotors).withReduction(_driveGearing);
final maxVelCurrent = min(
driveMotor.getCurrent(_maxDriveSpeed / _wheelRadius, 12.0),
_currentLimit * numMotors);
final torqueLoss = max(driveMotor.getTorque(maxVelCurrent), 0.0);
final num moduleFrictionForce = (_wheelCOF * (_mass * 9.8)) / numModules;
final num maxFrictionTorque = moduleFrictionForce * _wheelRadius;
return (maxFrictionTorque / driveMotor.kTNMPerAmp) / numMotors;
return ((maxFrictionTorque + torqueLoss) / driveMotor.kTNMPerAmp) /
numMotors;
}

num _calculateMaxAccel() {
final int numModules = _holonomicMode ? 4 : 2;
final int numMotors = _holonomicMode ? 1 : 2;
final DCMotor driveMotor =
DCMotor.fromString(_driveMotor, numMotors).withReduction(_driveGearing);

final maxVelCurrent = min(
driveMotor.getCurrent(_maxDriveSpeed / _wheelRadius, 12.0),
_currentLimit * numMotors);
final torqueLoss = max(driveMotor.getTorque(maxVelCurrent), 0.0);
final num moduleFrictionForce = (_wheelCOF * (_mass * 9.8)) / numModules;
final maxCurrent =
min(driveMotor.getCurrent(0.0, 12.0), (_currentLimit * numMotors));
final maxTorque = ((maxCurrent * driveMotor.kTNMPerAmp) - torqueLoss);
final maxForce = min(maxTorque / _wheelRadius, moduleFrictionForce);

if (maxForce > 0) {
return (maxForce * numModules) / _mass;
} else {
return 0.0;
}
}
}
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