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add support for four motors differential drive #1082

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add support for four motors differential drive #1082

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2767ae1
add support for four motors differential drive
jjakubassa Jan 5, 2023
3954119
Merge branch 'main' into main
DocGarbanzo Feb 20, 2023
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41 changes: 41 additions & 0 deletions donkeycar/templates/cfg_complete.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@
# "DC_STEER_THROTTLE" uses HBridge pwm to control one steering dc motor, and one drive wheel motor
# "DC_TWO_WHEEL" uses HBridge in 2-pin mode to control two drive motors, one on the left, and one on the right.
# "DC_TWO_WHEEL_L298N" using HBridge in 3-pin mode to control two drive motors, one of the left and one on the right.
# "DC_FOUR_WHEEL" uses HBridge in 2-pin mode to control four drive motors, two on the left (front/rear) and two on the right (front/rear).
# "MOCK" no drive train. This can be used to test other features in a test rig.
# "VESC" VESC Motor controller to set servo angle and duty cycle
# (deprecated) "SERVO_HBRIDGE_PWM" use ServoBlaster to output pwm control from the PiZero directly to control steering,
Expand Down Expand Up @@ -338,6 +339,46 @@
"RIGHT_EN_DUTY_PIN": "RPI_GPIO.BOARD.11", # PWM pin generates duty cycle for right wheel speed
}

#
# DC_FOUR_WHEEL pin configuration
# - configures L298N_HBridge_2pin driver
# - four wheels as differential drive, left front/rear and right front/rear.
# - each wheel is controlled by two pwm pins,
# one for forward and one for backward (reverse).
# - each pwm pin produces a duty cycle from 0 (completely LOW)
# to 1 (100% completely high), which is proportional to the
# amount of power delivered to the motor.
# - in forward mode, the reverse pwm is 0 duty_cycle,
# in backward mode, the forward pwm is 0 duty cycle.
# - both pwms are 0 duty cycle (LOW) to 'detach' motor and
# and glide to a stop.
# - both pwms are full duty cycle (100% HIGH) to brake
#
# Pin specifier string format:
# - use RPI_GPIO for RPi/Nano header pin output
# - use BOARD for board pin numbering
# - use BCM for Broadcom GPIO numbering
# - for example "RPI_GPIO.BOARD.18"
# - use PIPGIO for RPi header pin output using pigpio server
# - must use BCM (broadcom) pin numbering scheme
# - for example, "PIGPIO.BCM.13"
# - use PCA9685 for PCA9685 pin output
# - include colon separated I2C channel and address
# - for example "PCA9685.1:40.13"
# - RPI_GPIO, PIGPIO and PCA9685 can be mixed arbitrarily,
# although it is discouraged to mix RPI_GPIO and PIGPIO.
#
DC_FOUR_WHEEL = {
"LEFT_FRONT_FWD_DUTY_PIN": "PCA9685.1:40.0", # pwm pin produces duty cycle for left front wheel forward
"LEFT_FRONT_BWD_DUTY_PIN": "PCA9685.1:40.1", # pwm pin produces duty cycle for left front wheel reverse
"LEFT_REAR_FWD_DUTY_PIN": "PCA9685.1:40.3", # pwm pin produces duty cycle for left rear wheel forward
"LEFT_REAR_BWD_DUTY_PIN": "PCA9685.1:40.2", # pwm pin produces duty cycle for left rear wheel reverse
"RIGHT_FRONT_FWD_DUTY_PIN": "PCA9685.1:40.6", # pwm pin produces duty cycle for right front wheel forward
"RIGHT_FRONT_BWD_DUTY_PIN": "PCA9685.1:40.7", # pwm pin produces duty cycle for right front wheel reverse
"RIGHT_REAR_FWD_DUTY_PIN": "PCA9685.1:40.4", # pwm pin produces duty cycle for right rear wheel forward
"RIGHT_REAR_BWD_DUTY_PIN": "PCA9685.1:40.5", # pwm pin produces duty cycle for right rear wheel reverse
}

#ODOMETRY
HAVE_ODOM = False # Do you have an odometer/encoder
ENCODER_TYPE = 'GPIO' # What kind of encoder? GPIO|Arduino|Astar
Expand Down
22 changes: 21 additions & 1 deletion donkeycar/templates/complete.py
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Expand Up @@ -838,7 +838,7 @@ def add_drivetrain(V, cfg):
# To make differential drive steer,
# divide throttle between motors based on the steering value
#
is_differential_drive = cfg.DRIVE_TRAIN_TYPE.startswith("DC_TWO_WHEEL")
is_differential_drive = cfg.DRIVE_TRAIN_TYPE.startswith("DC_TWO_WHEEL") or cfg.DRIVE_TRAIN_TYPE.startswith("DC_FOUR_WHEEL")
if is_differential_drive:
V.add(TwoWheelSteeringThrottle(),
inputs=['throttle', 'steering'],
Expand Down Expand Up @@ -931,6 +931,26 @@ def add_drivetrain(V, cfg):
V.add(left_motor, inputs=['left/throttle'])
V.add(right_motor, inputs=['right/throttle'])

elif cfg.DRIVE_TRAIN_TYPE == "DC_FOUR_WHEEL":
dt = cfg.DC_FOUR_WHEEL
left_front_motor = actuator.L298N_HBridge_2pin(
pins.pwm_pin_by_id(dt['LEFT_FRONT_FWD_DUTY_PIN']),
pins.pwm_pin_by_id(dt['LEFT_FRONT_BWD_DUTY_PIN']))
left_rear_motor = actuator.L298N_HBridge_2pin(
pins.pwm_pin_by_id(dt['LEFT_REAR_FWD_DUTY_PIN']),
pins.pwm_pin_by_id(dt['LEFT_REAR_BWD_DUTY_PIN']))
right_front_motor = actuator.L298N_HBridge_2pin(
pins.pwm_pin_by_id(dt['RIGHT_FRONT_FWD_DUTY_PIN']),
pins.pwm_pin_by_id(dt['RIGHT_FRONT_BWD_DUTY_PIN']))
right_rear_motor = actuator.L298N_HBridge_2pin(
pins.pwm_pin_by_id(dt['RIGHT_REAR_FWD_DUTY_PIN']),
pins.pwm_pin_by_id(dt['RIGHT_REAR_BWD_DUTY_PIN']))

V.add(left_front_motor, inputs=['left/throttle'])
V.add(left_rear_motor, inputs=['left/throttle'])
V.add(right_front_motor, inputs=['right/throttle'])
V.add(right_rear_motor, inputs=['right/throttle'])

elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_2PIN":
#
# Servo for steering and HBridge motor driver in 2pin mode for motor
Expand Down