Dev

pid_control/Makefile → complete_route/Makefile

@@ -1,56 +1,56 @@
-# Compilador e flags
+# Compiler and flags
 CC = g++
 CFLAGS = -Wall -Wextra -Werror -std=c++17 -O3 -g -Iincludes `pkg-config --cflags opencv4` -MMD
 LDFLAGS = -lSDL2 -li2c -lpthread `pkg-config --libs opencv4` -lstdc++fs -lrt
 
-# Diretórios
+# Directories
 SRCDIR = sources
 APPDIR = apps
 OBJDIR = build
 BINDIR = bin
 
-# Fontes por módulo
+# Sources by module
 SRC_TEST_PID     = $(APPDIR)/main.cpp $(SRCDIR)/pid_controller.cpp $(SRCDIR)/jetracer.cpp $(SRCDIR)/i2c_device.cpp $(SRCDIR)/computer_vision.cpp
 
-# Objetos gerados
+# Generated objects
 OBJ_TEST_PID     = $(patsubst %.cpp,$(OBJDIR)/%.o,$(notdir $(SRC_TEST_PID)))
 
-# Executáveis
+# Executables
 EXEC_TEST_PID    = $(BINDIR)/jetracer_pid_controler
 
-# Alvo principal
+# Main target
 all: $(EXEC_TEST_PID)
 
-# Regras para executáveis
+# Rules for executables
 $(EXEC_TEST_PID): $(OBJ_TEST_PID) | $(BINDIR)
 	#$(CC) $(CFLAGS) -o $@ $(addprefix $(OBJDIR)/,$(notdir $^)) -lSDL2 -lpthread `pkg-config --libs opencv4` -lstdc++fs
 	$(CC) $(CFLAGS) -o $@ $(addprefix $(OBJDIR)/,$(notdir $^)) $(LDFLAGS)
 
-# Regra para arquivos objeto
+# Rule for object files
 $(OBJDIR)/%.o: $(SRCDIR)/%.cpp | $(OBJDIR)
 	$(CC) $(CFLAGS) -c $< -o $@
 
 $(OBJDIR)/%.o: $(APPDIR)/%.cpp | $(OBJDIR)
 	$(CC) $(CFLAGS) -c $< -o $@
 
-# Cria diretório build/ se necessário
+# Create build/ directory if needed
 $(OBJDIR):
 	mkdir -p $(OBJDIR)
 
-# Cria bin/ se necessário
+# Create bin/ directory if needed
 $(BINDIR):
 	mkdir -p $(BINDIR)
 
-# Comandos auxiliares
+# Auxiliary commands
 clean:
 	rm -rf $(OBJDIR) $(BINDIR)
 
 re: clean all
 
-# Alvos para rodar específicos
+# Targets to run specific executables
 testpid: $(EXEC_TEST_PID)
 
 .PHONY: all clean re control video frames lane frameslane oneframe testpid run
 
-# Inclui dependências geradas automaticamente
+# Include automatically generated dependencies
 -include $(OBJDIR)/*.d

complete_route/README.md

@@ -0,0 +1,89 @@
+# PID Control + JetRacer Vision
+
+C++ implementation of lane detection, PID control, and hardware interface for the JetRacer car, integrated with a Python pipeline that writes camera segmentation masks to shared memory.
+
+> **Requirements**
+> • CMake ≥ 3.18 • OpenCV ≥ 4.5 • SDL2 • Linux I2C (i2c-dev) • Python ≥ 3.9 (for camera_yolo_to_shm.py)
+
+---
+
+## Repository Structure
+
+apps/                # example executables
+  └─ main.cpp        # PID with joystick + shared memory
+includes/jetracer/   # public headers (*.hpp)
+sources/             # C++ implementations (*.cpp)
+models/              # YOLO / LaneNet model (.pt)
+scripts/             # Python utilities
+docs/                # Markdown documentation + diagrams
+Makefile             # default target: make && make run
+
+---
+
+## Main Modules
+
+| Module                   | Description                                  | Docs                                                                         |
+| ------------------------ | -------------------------------------------- | ---------------------------------------------------------------------------- |
+| `computer_vision`        | Lane extraction, center calculation, overlay | [`docs/docs_computer_vision_module.md`](docs/docs_computer_vision_module.md) |
+| `pid_controller`         | Simplified PID with anti-wind-up             | [`docs/docs_pid_module.md`](docs/docs_pid_module.md)                         |
+| `control` (`JetRacer`)   | PWM, servo, motors, joystick handling        | [`docs/docs_control_module.md`](docs/docs_control_module.md)                 |
+| `hardware` (`I2CDevice`) | RAII wrapper for `/dev/i2c-X`                | [`docs/docs_hardware_module.md`](docs/docs_hardware_module.md)               |
+| `pwm_config`             | Advanced PWM frequency and smoothing configs | [`docs/docs_pwm_improvements.md`](docs/docs_pwm_improvements.md)             |
+| `motor_control`          | Advanced motor control and torque management | [`docs/docs_motor_control_improvements.md`](docs/docs_motor_control_improvements.md) |
+
+---
+
+## Execution
+
+```bash
+# Terminal 1: producer writes lane masks to shared memory
+python3 scripts/camera_yolo_to_shm.py
+
+# Terminal 2: run the C++ controller
+./bin/jetracer_pid_controler
+```
+
+## Testing
+
+```bash
+# Compile and test manually
+make clean && make
+./bin/jetracer_pid_controler
+```
+
+---
+
+## Execution Flow (Simplified)
+
+```mermaid
+graph TD
+    P1["Python – YOLO mask"] --> M1["/dev/shm/mask_shared"]
+    M1 --> C1["apps/main.cpp"]
+    C1 --> V1["computer_vision"]
+    V1 --> PID1["pid_controller"]
+    PID1 --> J1["JetRacer::smooth_steering"]
+```
+
+---
+
+## PWM Improvements
+
+The system now includes advanced PWM improvements to eliminate motor speed pulsation:
+
+- **Higher PWM Frequency**: Increased from 100Hz to 1000Hz (configurable up to 2000Hz)
+- **Speed Smoothing**: Moving average filter with configurable smoothing window
+- **Rate Limiting**: Maximum speed change per update to prevent sudden movements
+- **Configurable Parameters**: Easy adjustment for different use cases
+
+## Motor Control Improvements
+
+Advanced motor control system to eliminate "force to start" sound and improve acceleration:
+
+- **Intelligent Power Curve**: Exponential power amplification for better low-speed response
+- **Minimum PWM Threshold**: Guaranteed initial torque to eliminate startup resistance
+- **Torque Amplification**: Boost for low-speed PWM values
+- **Smart Acceleration Ramp**: Different rates for acceleration vs. deceleration
+- **Emergency Braking**: Intelligent detection and response to sudden changes
+- **Deadzone Control**: Eliminates oscillations at very low speeds
+
+See [`docs/docs_motor_control_improvements.md`](docs/docs_motor_control_improvements.md) for detailed configuration options.

pid_control/apps/main.cpp → complete_route/apps/main.cpp

@@ -1,4 +1,3 @@
-// File: sources/main.cpp
 #include "jetracer/pid_controller.hpp"
 #include "jetracer/jetracer.hpp"
 #include "jetracer/computer_vision.hpp"
@@ -19,7 +18,8 @@ jetracer::control::JetRacer *jetracer_ptr = nullptr;
 
 void signal_handler(int)
 {
-	std::cout << std::endl << "[!] Ctrl+C detected. Stopping the JetRacer..." << std::endl;
+	std::cout << std::endl
+			  << "[!] Ctrl+C detected. Stopping the JetRacer..." << std::endl;
 	if (jetracer_ptr)
 		jetracer_ptr->stop();
 	std::_Exit(0);
@@ -35,6 +35,14 @@ int main()
 		jetracer_ptr = &jetracer;
 
 		signal(SIGINT, signal_handler);
+
+		jetracer.set_constant_speed_mode(false);
+
+		std::cout << "\n=== JOYSTICK MODE ACTIVATED ===" << std::endl;
+		std::cout << "Joystick control enabled" << std::endl;
+		std::cout << "Maximum speed limited to 27% (ideal configuration)" << std::endl;
+		std::cout << "Use the left joystick to control speed" << std::endl;
+
 		jetracer.start();
 
 		int shm_fd = shm_open("mask_shared", O_RDWR, 0666);
@@ -57,6 +65,12 @@ int main()
 		cv::Mat mask(jetracer::vision::HEIGHT, jetracer::vision::WIDTH, CV_8UC1, img_ptr);
 		int frame_id = 0;
 
+		std::cout << "\n=== MAIN SYSTEM RUNNING ===" << std::endl;
+		std::cout << "Joystick control active" << std::endl;
+		std::cout << "Maximum speed limited to 27% (ideal configuration)" << std::endl;
+		std::cout << "Use the left joystick to control speed" << std::endl;
+		std::cout << "Use Ctrl+C to stop the system at any time" << std::endl;
+
 		while (true)
 		{
 			if (flag_ptr[0] != 1)

complete_route/build/computer_vision.d

@@ -0,0 +1,113 @@
+build/computer_vision.o: sources/computer_vision.cpp \
+ includes/jetracer/computer_vision.hpp \
+ /usr/include/opencv4/opencv2/opencv.hpp \
+ /usr/include/opencv4/opencv2/opencv_modules.hpp \
+ /usr/include/opencv4/opencv2/core.hpp \
+ /usr/include/opencv4/opencv2/core/cvdef.h \
+ /usr/include/opencv4/opencv2/core/version.hpp \
+ /usr/include/opencv4/opencv2/core/hal/interface.h \
+ /usr/include/opencv4/opencv2/core/cv_cpu_dispatch.h \
+ /usr/include/opencv4/opencv2/core/base.hpp \
+ /usr/include/opencv4/opencv2/core/cvstd.hpp \
+ /usr/include/opencv4/opencv2/core/cvstd_wrapper.hpp \
+ /usr/include/opencv4/opencv2/core/neon_utils.hpp \
+ /usr/include/opencv4/opencv2/core/vsx_utils.hpp \
+ /usr/include/opencv4/opencv2/core/check.hpp \
+ /usr/include/opencv4/opencv2/core/traits.hpp \
+ /usr/include/opencv4/opencv2/core/matx.hpp \
+ /usr/include/opencv4/opencv2/core/saturate.hpp \
+ /usr/include/opencv4/opencv2/core/fast_math.hpp \
+ /usr/include/opencv4/opencv2/core/types.hpp \
+ /usr/include/opencv4/opencv2/core/mat.hpp \
+ /usr/include/opencv4/opencv2/core/bufferpool.hpp \
+ /usr/include/opencv4/opencv2/core/mat.inl.hpp \
+ /usr/include/opencv4/opencv2/core/persistence.hpp \
+ /usr/include/opencv4/opencv2/core/operations.hpp \
+ /usr/include/opencv4/opencv2/core/cvstd.inl.hpp \
+ /usr/include/opencv4/opencv2/core/utility.hpp \
+ /usr/include/opencv4/opencv2/core/optim.hpp \
+ /usr/include/opencv4/opencv2/core/ovx.hpp \
+ /usr/include/opencv4/opencv2/core/cvdef.h \
+ /usr/include/opencv4/opencv2/calib3d.hpp \
+ /usr/include/opencv4/opencv2/features2d.hpp \
+ /usr/include/opencv4/opencv2/flann/miniflann.hpp \
+ /usr/include/opencv4/opencv2/flann/defines.h \
+ /usr/include/opencv4/opencv2/flann/config.h \
+ /usr/include/opencv4/opencv2/core/affine.hpp \
+ /usr/include/opencv4/opencv2/dnn.hpp \
+ /usr/include/opencv4/opencv2/dnn/dnn.hpp \
+ /usr/include/opencv4/opencv2/core/async.hpp \
+ /usr/include/opencv4/opencv2/dnn/../dnn/version.hpp \
+ /usr/include/opencv4/opencv2/dnn/dict.hpp \
+ /usr/include/opencv4/opencv2/dnn/layer.hpp \
+ /usr/include/opencv4/opencv2/dnn/dnn.inl.hpp \
+ /usr/include/opencv4/opencv2/dnn/utils/inference_engine.hpp \
+ /usr/include/opencv4/opencv2/dnn/utils/../dnn.hpp \
+ /usr/include/opencv4/opencv2/flann.hpp \
+ /usr/include/opencv4/opencv2/flann/flann_base.hpp \
+ /usr/include/opencv4/opencv2/flann/general.h \
+ /usr/include/opencv4/opencv2/flann/matrix.h \
+ /usr/include/opencv4/opencv2/flann/params.h \
+ /usr/include/opencv4/opencv2/flann/any.h \
+ /usr/include/opencv4/opencv2/flann/defines.h \
+ /usr/include/opencv4/opencv2/flann/saving.h \
+ /usr/include/opencv4/opencv2/flann/nn_index.h \
+ /usr/include/opencv4/opencv2/flann/result_set.h \
+ /usr/include/opencv4/opencv2/flann/all_indices.h \
+ /usr/include/opencv4/opencv2/flann/kdtree_index.h \
+ /usr/include/opencv4/opencv2/flann/dynamic_bitset.h \
+ /usr/include/opencv4/opencv2/flann/dist.h \
+ /usr/include/opencv4/opencv2/flann/heap.h \
+ /usr/include/opencv4/opencv2/flann/allocator.h \
+ /usr/include/opencv4/opencv2/flann/random.h \
+ /usr/include/opencv4/opencv2/flann/kdtree_single_index.h \
+ /usr/include/opencv4/opencv2/flann/kmeans_index.h \
+ /usr/include/opencv4/opencv2/flann/logger.h \
+ /usr/include/opencv4/opencv2/flann/composite_index.h \
+ /usr/include/opencv4/opencv2/flann/linear_index.h \
+ /usr/include/opencv4/opencv2/flann/hierarchical_clustering_index.h \
+ /usr/include/opencv4/opencv2/flann/lsh_index.h \
+ /usr/include/opencv4/opencv2/flann/lsh_table.h \
+ /usr/include/opencv4/opencv2/flann/autotuned_index.h \
+ /usr/include/opencv4/opencv2/flann/ground_truth.h \
+ /usr/include/opencv4/opencv2/flann/index_testing.h \
+ /usr/include/opencv4/opencv2/flann/timer.h \
+ /usr/include/opencv4/opencv2/flann/sampling.h \
+ /usr/include/opencv4/opencv2/highgui.hpp \
+ /usr/include/opencv4/opencv2/imgcodecs.hpp \
+ /usr/include/opencv4/opencv2/videoio.hpp \
+ /usr/include/opencv4/opencv2/imgproc.hpp \
+ /usr/include/opencv4/opencv2/./imgproc/segmentation.hpp \
+ /usr/include/opencv4/opencv2/ml.hpp \
+ /usr/include/opencv4/opencv2/ml/ml.inl.hpp \
+ /usr/include/opencv4/opencv2/objdetect.hpp \
+ /usr/include/opencv4/opencv2/objdetect/aruco_detector.hpp \
+ /usr/include/opencv4/opencv2/objdetect/aruco_dictionary.hpp \
+ /usr/include/opencv4/opencv2/objdetect/aruco_board.hpp \
+ /usr/include/opencv4/opencv2/objdetect/graphical_code_detector.hpp \
+ /usr/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp \
+ /usr/include/opencv4/opencv2/objdetect/face.hpp \
+ /usr/include/opencv4/opencv2/objdetect/charuco_detector.hpp \
+ /usr/include/opencv4/opencv2/objdetect/barcode.hpp \
+ /usr/include/opencv4/opencv2/photo.hpp \
+ /usr/include/opencv4/opencv2/stitching.hpp \
+ /usr/include/opencv4/opencv2/stitching/warpers.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/warpers.hpp \
+ /usr/include/opencv4/opencv2/core/cuda.hpp \
+ /usr/include/opencv4/opencv2/core/cuda_types.hpp \
+ /usr/include/opencv4/opencv2/core/cuda.inl.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/warpers.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/matchers.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/matchers.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/util.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/util_inl.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/camera.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/exposure_compensate.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/seam_finders.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/blenders.hpp \
+ /usr/include/opencv4/opencv2/stitching/detail/camera.hpp \
+ /usr/include/opencv4/opencv2/video.hpp \
+ /usr/include/opencv4/opencv2/video/tracking.hpp \
+ /usr/include/opencv4/opencv2/video/background_segm.hpp

complete_route/build/i2c_device.d

@@ -0,0 +1,2 @@
+build/i2c_device.o: sources/i2c_device.cpp \
+ includes/jetracer/i2c_device.hpp

complete_route/build/jetracer.d

@@ -0,0 +1,3 @@
+build/jetracer.o: sources/jetracer.cpp includes/jetracer/jetracer.hpp \
+ includes/jetracer/i2c_device.hpp includes/jetracer/pwm_config.hpp \
+ includes/jetracer/motor_control.hpp