pbio/control: remove control_offset setting

This is no longer being used, so remove it.

Author: laurensvalk

lib/pbio/include/pbio/control.h

@@ -37,7 +37,6 @@ typedef struct _pbio_control_settings_t {
     int32_t pid_ki;                 /**< Integral position control constant */
     int32_t pid_kd;                 /**< Derivative position control constant (and proportional speed control constant) */
     int32_t max_control;            /**< Upper limit on control output */
-    int32_t control_offset;         /**< Constant feedforward signal added in the reference direction */
     int32_t actuation_scale;        /**< Number of "duty steps" per "%" user-specified raw actuation value */
     int32_t integral_range;         /**< Region around the target count in which integral errors are accumulated */
     int32_t integral_rate;          /**< Maximum rate at which the integrator is allowed to increase */
@@ -93,8 +92,8 @@ int32_t pbio_control_user_to_counts(pbio_control_settings_t *s, int32_t user);
 void pbio_control_settings_get_limits(pbio_control_settings_t *s, int32_t *speed, int32_t *acceleration, int32_t *actuation);
 pbio_error_t pbio_control_settings_set_limits(pbio_control_settings_t *ctl, int32_t speed, int32_t acceleration, int32_t actuation);
 
-void pbio_control_settings_get_pid(pbio_control_settings_t *s, int32_t *pid_kp, int32_t *pid_ki, int32_t *pid_kd, int32_t *integral_range, int32_t *integral_rate, int32_t *control_offset);
-pbio_error_t pbio_control_settings_set_pid(pbio_control_settings_t *s, int32_t pid_kp, int32_t pid_ki, int32_t pid_kd, int32_t integral_range, int32_t integral_rate, int32_t control_offset);
+void pbio_control_settings_get_pid(pbio_control_settings_t *s, int32_t *pid_kp, int32_t *pid_ki, int32_t *pid_kd, int32_t *integral_range, int32_t *integral_rate);
+pbio_error_t pbio_control_settings_set_pid(pbio_control_settings_t *s, int32_t pid_kp, int32_t pid_ki, int32_t pid_kd, int32_t integral_range, int32_t integral_rate);
 
 void pbio_control_settings_get_target_tolerances(pbio_control_settings_t *s, int32_t *speed, int32_t *position);
 pbio_error_t pbio_control_settings_set_target_tolerances(pbio_control_settings_t *s, int32_t speed, int32_t position);

lib/pbio/src/control.c

@@ -336,38 +336,30 @@ pbio_error_t pbio_control_settings_set_limits(pbio_control_settings_t *s, int32_
     if (speed < 1 || acceleration < 1 || actuation < 1) {
         return PBIO_ERROR_INVALID_ARG;
     }
-    if (actuation * s->actuation_scale <= s->control_offset) {
-        return PBIO_ERROR_INVALID_OP;
-    }
     s->max_rate = pbio_control_user_to_counts(s, speed);
     s->abs_acceleration = pbio_control_user_to_counts(s, acceleration);
     s->max_control = actuation * s->actuation_scale;
     return PBIO_SUCCESS;
 }
 
-void pbio_control_settings_get_pid(pbio_control_settings_t *s, int32_t *pid_kp, int32_t *pid_ki, int32_t *pid_kd, int32_t *integral_range, int32_t *integral_rate, int32_t *control_offset) {
+void pbio_control_settings_get_pid(pbio_control_settings_t *s, int32_t *pid_kp, int32_t *pid_ki, int32_t *pid_kd, int32_t *integral_range, int32_t *integral_rate) {
     *pid_kp = s->pid_kp;
     *pid_ki = s->pid_ki;
     *pid_kd = s->pid_kd;
     *integral_range = pbio_control_counts_to_user(s, s->integral_range);
     *integral_rate = pbio_control_counts_to_user(s, s->integral_rate);
-    *control_offset = s->control_offset / s->actuation_scale;
 }
 
-pbio_error_t pbio_control_settings_set_pid(pbio_control_settings_t *s, int32_t pid_kp, int32_t pid_ki, int32_t pid_kd, int32_t integral_range, int32_t integral_rate, int32_t control_offset) {
-    if (pid_kp < 0 || pid_ki < 0 || pid_kd < 0 || integral_range < 0 || integral_rate < 0 || control_offset < 0) {
+pbio_error_t pbio_control_settings_set_pid(pbio_control_settings_t *s, int32_t pid_kp, int32_t pid_ki, int32_t pid_kd, int32_t integral_range, int32_t integral_rate) {
+    if (pid_kp < 0 || pid_ki < 0 || pid_kd < 0 || integral_range < 0 || integral_rate < 0) {
         return PBIO_ERROR_INVALID_ARG;
     }
-    if (control_offset * s->actuation_scale >= s->max_control) {
-        return PBIO_ERROR_INVALID_OP;
-    }
 
     s->pid_kp = pid_kp;
     s->pid_ki = pid_ki;
     s->pid_kd = pid_kd;
     s->integral_range = pbio_control_user_to_counts(s, integral_range);
     s->integral_rate = pbio_control_user_to_counts(s, integral_rate);
-    s->control_offset = control_offset * s->actuation_scale;
     return PBIO_SUCCESS;
 }
 

lib/pbio/src/drivebase.c

@@ -36,11 +36,10 @@ static pbio_error_t drivebase_adopt_settings(pbio_control_settings_t *s_distance
     s_distance->stall_time = min(s_left->stall_time, s_right->stall_time);
 
     // We require that actuation scale and offsets are the same for either motor, and use as-is for drivebase
-    if (s_left->actuation_scale != s_right->actuation_scale || s_left->control_offset != s_right->control_offset) {
+    if (s_left->actuation_scale != s_right->actuation_scale) {
         return PBIO_ERROR_INVALID_ARG;
     }
     s_distance->actuation_scale = s_left->actuation_scale;
-    s_distance->control_offset = s_left->control_offset;
 
     // Copy rate estimator usage, required to be the same on both motors
     if (s_left->use_estimated_rate != s_right->use_estimated_rate || s_left->use_estimated_count != s_right->use_estimated_count) {

pybricks/common/pb_type_control.c

@@ -94,25 +94,23 @@ STATIC mp_obj_t common_Control_pid(size_t n_args, const mp_obj_t *pos_args, mp_m
         PB_ARG_DEFAULT_NONE(ki),
         PB_ARG_DEFAULT_NONE(kd),
         PB_ARG_DEFAULT_NONE(integral_range),
-        PB_ARG_DEFAULT_NONE(integral_rate),
-        PB_ARG_DEFAULT_NONE(feed_forward));
+        PB_ARG_DEFAULT_NONE(integral_rate));
 
     // Read current values
     int32_t kp, ki, kd;
-    int32_t integral_range, integral_rate, feed_forward;
-    pbio_control_settings_get_pid(&self->control->settings, &kp, &ki, &kd, &integral_range, &integral_rate, &feed_forward);
+    int32_t integral_range, integral_rate;
+    pbio_control_settings_get_pid(&self->control->settings, &kp, &ki, &kd, &integral_range, &integral_rate);
 
     // If all given values are none, return current values
     if (kp_in == mp_const_none && ki_in == mp_const_none && kd_in == mp_const_none &&
-        integral_range_in == mp_const_none && integral_rate_in == mp_const_none && feed_forward_in == mp_const_none) {
-        mp_obj_t ret[6];
+        integral_range_in == mp_const_none && integral_rate_in == mp_const_none) {
+        mp_obj_t ret[5];
         ret[0] = mp_obj_new_int(kp);
         ret[1] = mp_obj_new_int(ki);
         ret[2] = mp_obj_new_int(kd);
         ret[3] = mp_obj_new_int(integral_range);
         ret[4] = mp_obj_new_int(integral_rate);
-        ret[5] = mp_obj_new_int(feed_forward);
-        return mp_obj_new_tuple(6, ret);
+        return mp_obj_new_tuple(5, ret);
     }
 
     // Assert control is not active
@@ -124,9 +122,8 @@ STATIC mp_obj_t common_Control_pid(size_t n_args, const mp_obj_t *pos_args, mp_m
     kd = pb_obj_get_default_int(kd_in, kd);
     integral_range = pb_obj_get_default_int(integral_range_in, integral_range);
     integral_rate = pb_obj_get_default_int(integral_rate_in, integral_rate);
-    feed_forward = pb_obj_get_default_int(feed_forward_in, feed_forward);
 
-    pb_assert(pbio_control_settings_set_pid(&self->control->settings, kp, ki, kd, integral_range, integral_rate, feed_forward));
+    pb_assert(pbio_control_settings_set_pid(&self->control->settings, kp, ki, kd, integral_range, integral_rate));
 
     return mp_const_none;
 }