pbio/control: remove actuation_scale 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 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 */
     bool use_estimated_rate;        /**< Whether to use the estimated speed (true) or the reported/measured speed (false) for feedback control */

lib/pbio/platform/motors/settings.c

@@ -35,7 +35,6 @@ static const pbio_control_settings_t settings_servo_ev3_m = {
     .integral_range = 45,
     .integral_rate = 10,
     .max_control = 150000,
-    .actuation_scale = 100,
     .use_estimated_rate = false,
     .use_estimated_count = false,
 };
@@ -65,7 +64,6 @@ static const pbio_control_settings_t settings_servo_ev3_l = {
     .integral_range = 45,
     .integral_rate = 10,
     .max_control = 430000,
-    .actuation_scale = 100,
     .use_estimated_rate = false,
     .use_estimated_count = false,
 };
@@ -99,7 +97,6 @@ static const pbio_control_settings_t settings_servo_technic_m_angular = {
     .integral_range = 45,
     .integral_rate = 5,
     .max_control = 160000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };
@@ -129,7 +126,6 @@ static const pbio_control_settings_t settings_servo_technic_l_angular = {
     .integral_range = 45,
     .integral_rate = 5,
     .max_control = 330000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };
@@ -159,7 +155,6 @@ static const pbio_control_settings_t settings_servo_interactive = {
     .integral_range = 45,
     .integral_rate = 3,
     .max_control = 100000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };
@@ -191,7 +186,6 @@ static const pbio_control_settings_t settings_servo_movehub = {
     .integral_range = 45,
     .integral_rate = 5,
     .max_control = 150000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };
@@ -223,7 +217,6 @@ static const pbio_control_settings_t settings_servo_technic_l = {
     .integral_range = 45,
     .integral_rate = 5,
     .max_control = 260000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };
@@ -253,7 +246,6 @@ static const pbio_control_settings_t settings_servo_technic_xl = {
     .integral_range = 45,
     .integral_rate = 5,
     .max_control = 260000,
-    .actuation_scale = 100,
     .use_estimated_rate = true,
     .use_estimated_count = false,
 };

lib/pbio/src/control.c

@@ -329,7 +329,6 @@ 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) {
     *speed = pbio_control_counts_to_user(s, s->max_rate);
     *acceleration = pbio_control_counts_to_user(s, s->abs_acceleration);
-    *actuation = s->max_control / s->actuation_scale;
 }
 
 pbio_error_t pbio_control_settings_set_limits(pbio_control_settings_t *s, int32_t speed, int32_t acceleration, int32_t actuation) {
@@ -338,7 +337,6 @@ pbio_error_t pbio_control_settings_set_limits(pbio_control_settings_t *s, int32_
     }
     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;
 }
 

lib/pbio/src/drivebase.c

@@ -35,12 +35,6 @@ static pbio_error_t drivebase_adopt_settings(pbio_control_settings_t *s_distance
     s_distance->max_control = min(s_left->max_control, s_right->max_control);
     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) {
-        return PBIO_ERROR_INVALID_ARG;
-    }
-    s_distance->actuation_scale = s_left->actuation_scale;
-
     // 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) {
         return PBIO_ERROR_INVALID_ARG;