1f3a39687b
Serial out
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First working example of sending data back to the remote. For now we send some dummy data.
2020-06-13 15:45:44 +02:00
a2494610cd
Removed individual NodeMCU sketches
2020-06-13 15:45:44 +02:00
39f798d9d8
Balancing success! With acceptable tune
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Still playing with acceleration limits and constrains on outputs and buffers in the controllers but robot works quite good now.
2020-06-13 15:45:44 +02:00
656562b1d7
Bugfix in NodeMCU checksum
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Calculated in the wrong function
New value for resend. 30ms works like a charm and feels responsive
2020-06-13 15:45:44 +02:00
c9a95b5b1a
filter clear function
2020-06-13 15:45:44 +02:00
33ab3e0df9
New Madgwick filter library
2020-06-13 15:45:44 +02:00
7322929c50
integral flush for control loops
2020-06-13 15:45:44 +02:00
077c1c6235
C implementation of Madgwick filter
2020-06-13 15:45:44 +02:00
2c6ac6a0e9
Checksum added to remote packet
2020-06-13 15:45:44 +02:00
5122f5f0c3
PID controller added with gain scaling
2020-06-13 15:45:44 +02:00
636726f9a5
OSC bridge in AP mode
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Default gw ip 192.168.4.1
2020-06-13 15:45:43 +02:00
eebe5e5eff
OSC Wifi to UART bridge
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Mix of the two earlier sketches
TODO: Switch this sketch to AP mode
2020-06-13 15:45:43 +02:00
9302eadae7
Touch OSC and NodeMCU
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1) A layout for the mobile phone
2) A sketch to receive the data on a NodeMCU over Wifi
3) A sketch to send a RC package to the stm32 from the NodeMCU
TODO: Merge these two sketches later
2020-06-13 15:45:43 +02:00
a1cb640b2b
RC Parser on UART implemented
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The receiving end on the stm32.
TODO: Send back data to the NodeMCU
2020-06-13 15:45:43 +02:00
aa941185c6
Small fixes to stepper driver
2020-06-13 15:45:43 +02:00
b2fa98ee1b
Some simple serial test
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Just write back the serial data that comes in
2020-06-13 15:45:43 +02:00
0ce2c9f49c
Adding pin definitions
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USART 2 works great
2020-06-13 15:45:43 +02:00
4f798f2ab6
dT as zero crash prevention
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Should not happen, but just in case.
2020-06-13 15:45:43 +02:00
aa3e5eb879
Bugfix in MPU6000 driver
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acceleration exceeds 1G and makes arcsin fail
2020-06-13 15:45:43 +02:00
afd196b1f4
Corrected include in Utilities.cpp
2020-06-13 15:45:43 +02:00
2d8f533a3e
Deployment of control loops
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Find the bug! Needs fixing. Not tuned! And something crashes the board.
When vibrating a lot (probably high gains or high d-term / d-term noise) or when the robot leans a lot to one side everything freezes. Both loops blinking leds stop completely and steppers stay at last command.
I've tried electronic fixes and lastly put the controller on its own power supply.
Can be triggered even without any power electronics connected (rocking the robot by hand). So it seems to be software related!
2020-06-13 15:45:43 +02:00
07b8299e25
Acceleration limit for stepper motors
2020-06-13 15:45:43 +02:00
d1bceb2117
IMU changes. Calibration options
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Disable standby mode at init
Can now calculate offset on acc and gyro
Fifo reset function
2020-06-13 15:45:42 +02:00
35eb3cccca
IMU acc and gyro fusion
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Needs tweaking to get the right amount of acc data
2020-06-13 15:45:42 +02:00
0d8fbaacdc
Some controllers implemented PD and PI
2020-06-13 15:45:42 +02:00
5de8b7cb19
Constrain range helper function
2020-06-13 15:45:42 +02:00
36e8dfe135
pt1 filter
2020-06-13 15:45:42 +02:00
206c99f866
Gyro and Flash documentation
2020-06-13 15:45:42 +02:00
806a80ebe0
Prettier way of driving the control loop
2020-06-13 15:45:42 +02:00
cbe9ae46d4
Fix Includes in servo
2020-06-13 15:45:34 +02:00
c7c2bbeafe
parent b564f42a186d5bdeabcbd97b9a6caecb59b000ab
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author Philip Johansson <philsson@gmail.com> 1592055686 +0200
committer Philip Johansson <philsson@gmail.com> 1592055697 +0200
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.ymlFixed includes for Baro
2020-06-13 15:45:18 +02:00
0bf8861d64
parent b564f42a186d5bdeabcbd97b9a6caecb59b000ab
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author Philip Johansson <philsson@gmail.com> 1592055686 +0200
committer Philip Johansson <philsson@gmail.com> 1592055697 +0200
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
Update .travis.yml
2020-06-13 15:43:44 +02:00
b564f42a18
Update .travis.yml
2020-06-13 15:39:48 +02:00
cce67f7659
Fix stop function in Servo driver
2018-08-31 17:49:59 +02:00
f2693a4c88
Travis file
2018-08-31 17:39:50 +02:00
c4b0b24f6b
Update submodules format
2018-08-31 10:24:01 +02:00
4f1b5f357a
Travis file
2018-08-31 10:17:10 +02:00
74e0d97986
Main file test for motors, servos and other drivers
2018-08-29 22:52:38 +02:00
a509b29348
Simple Incremental LPF filter
2018-08-29 22:45:59 +02:00
fe69b7764d
Fix to stepper driver
2018-08-29 22:45:00 +02:00
85b95999a5
Subrepo updated to latest master
2018-08-29 22:44:43 +02:00
652f24532a
Servo driver to drive an Arm. Some fixes needed for threads
2018-08-29 22:43:10 +02:00
5076ec7446
Updated submodule
2018-08-28 20:16:13 +02:00
aeb09eb879
Datasheet and schematics for revo/stm32f4
2018-08-26 19:09:08 +02:00
5b3adbf65d
Stepper driver draft
2018-08-25 19:51:22 +02:00
5f0099f390
MPU Interrupt added
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Sends interrupt on pin INT when there is data to read
2018-08-25 13:55:01 +02:00
08f9dba4d8
Ignore subrepo catalogue
2018-08-25 13:54:03 +02:00
3544b940db
Minimal main file
2018-08-25 11:43:37 +02:00
a9560f14dd
OSX project fixes
2018-08-25 11:38:45 +02:00
1606e32ebd
script to start the debugger on Linux
2018-08-25 11:38:21 +02:00
