30 Commits

Author SHA1 Message Date
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
9302eadae7 Touch OSC and NodeMCU
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
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
0ce2c9f49c Adding pin definitions
USART 2 works great
2020-06-13 15:45:43 +02:00
4f798f2ab6 dT as zero crash prevention
Should not happen, but just in case.
2020-06-13 15:45:43 +02:00
aa3e5eb879 Bugfix in MPU6000 driver
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
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
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
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
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
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
652f24532a Servo driver to drive an Arm. Some fixes needed for threads 2018-08-29 22:43:10 +02:00
5b3adbf65d Stepper driver draft 2018-08-25 19:51:22 +02:00
5f0099f390 MPU Interrupt added
Sends interrupt on pin INT when there is data to read
2018-08-25 13:55:01 +02:00
cece827795 Minor project changes 2018-08-25 11:37:47 +02:00
c0081fc459 Barometer drivers 2018-08-25 11:36:39 +02:00
3c66623707 Compass/Magnetometer drivers 2018-08-25 11:36:29 +02:00
bd22dd6ab3 MPU drivers
Drivers for accelerometer and gyro
2018-08-25 11:35:35 +02:00
0c5806dc2e Added documentation for Boards
Some pics and pin definitions
2018-08-25 11:34:21 +02:00
ea3b880449 Working debugger on Linux
With a simple code example of a blinking led on the F411 target
2017-10-14 14:44:06 +02:00