Code for the Rebus Controller
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tm4c123gh6pm_startup_ccs.c

README.md

DC Control Module

Todo

  1. Change Timer 0 to Timer 1 because of PWM.

Features

  1. QEI mode counts: 2800
  2. Rollover value: 14000

Message Packet

Mode

  1. PID tuning
  2. PID control
  3. Lead-lag tuning
  4. Lead-lag control

PID control

The user can send an angle in counts and the motor turns by the specified amount.

Problems

  • Not sure why when activating SEND and GET, there are periods where messages are dropped.
    • Turns out that having the same ID will cause a bus conflict
    • Issuing different IDs allow a much higher speed to be achieved (1Mbit/s)
  • Not sure why resetting one before the other will cause messages to be dropped for the first but not for the other.
  • Tuning might require a large amount of data to be set just because they are floats.
  • How to write lead-lag control?