nebkor/cyber_rider
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remove pitch stabilizing

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This commit is contained in:
Joe Ardent 2023-02-21 14:26:13 -08:00
parent 881e6858de
commit b6fed0ea4d
2 changed files with 1 additions and 33 deletions
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20
src/action/components.rs
View file

@ -81,11 +81,8 @@ impl Default for CatControllerSettings {
pub struct CatControllerState { pub struct CatControllerState {
pub roll_integral: f32, pub roll_integral: f32,
pub roll_prev: f32, pub roll_prev: f32,
pub pitch_integral: f32,
pub pitch_prev: f32,
decay_factor: f32, decay_factor: f32,
roll_limit: f32, roll_limit: f32,
pitch_limit: f32,
} }
impl Default for CatControllerState { impl Default for CatControllerState {
@ -93,11 +90,8 @@ impl Default for CatControllerState {
Self { Self {
roll_integral: Default::default(), roll_integral: Default::default(),
roll_prev: Default::default(), roll_prev: Default::default(),
pitch_integral: Default::default(),
pitch_prev: Default::default(),
decay_factor: 0.99, decay_factor: 0.99,
roll_limit: 1.5, roll_limit: 1.5,
pitch_limit: 0.1,
} }
} }
} }
@ -107,9 +101,6 @@ impl CatControllerState {
if self.roll_integral.abs() > 0.001 { if self.roll_integral.abs() > 0.001 {
self.roll_integral *= self.decay_factor; self.roll_integral *= self.decay_factor;
} }
if self.pitch_integral.abs() > 0.001 {
self.pitch_integral *= self.decay_factor;
}
} }
pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) { pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
@ -120,16 +111,7 @@ impl CatControllerState {
(derivative, self.roll_integral) (derivative, self.roll_integral)
} }
pub fn update_pitch(&mut self, error: f32, dt: f32) -> (f32, f32) { pub fn set_integral_limits(&mut self, roll: f32) {
let lim = self.pitch_limit;
self.pitch_integral = (self.pitch_integral + (error * dt)).min(lim).max(-lim);
let derivative = (error - self.pitch_prev) / dt;
self.pitch_prev = error;
(derivative, self.pitch_integral)
}
pub fn set_integral_limits(&mut self, roll: f32, pitch: f32) {
self.roll_limit = roll; self.roll_limit = roll;
self.pitch_limit = pitch;
} }
} }

14
src/action/systems.rs
View file

@ -16,8 +16,6 @@ use crate::{
input::InputState, input::InputState,
}; };
const PITCH_SCALE: f32 = 0.2;
fn yaw_to_angle(yaw: f32) -> f32 { fn yaw_to_angle(yaw: f32) -> f32 {
yaw.powi(3) * FRAC_PI_4 yaw.powi(3) * FRAC_PI_4
} }
@ -86,8 +84,6 @@ pub(super) fn falling_cat(
let bike_right = xform.right(); let bike_right = xform.right();
let world_right = xform.forward().cross(world_up).normalize();
let roll_error = bike_right.dot(target_up); let roll_error = bike_right.dot(target_up);
let pitch_error = world_up.dot(xform.back()); let pitch_error = world_up.dot(xform.back());
@ -107,16 +103,6 @@ pub(super) fn falling_cat(
} }
} }
} }
// we can do pitch correction any time, it's not coupled to roll
let scaled_pitch_error = pitch_error * PITCH_SCALE;
let (derivative, integral) =
control_vars.update_pitch(scaled_pitch_error, time.delta_seconds());
let mag =
(settings.kp * scaled_pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
if mag.is_finite() {
forces.torque += world_right * mag;
}
} }
/// Apply forces to the cyberbike as a result of input. /// Apply forces to the cyberbike as a result of input.