Rework #16

Williangalvani · 2016-06-25T23:01:21Z

No description provided.

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric · 2016-06-25T23:27:53Z

Firmware/ControladorRobo/control.cpp

+    TCCR1B |= (0 << CS11);
+    TCCR1B |= (1 << CS12);
+    TIMSK1 |= (1 << OCIE1A); // enable timer compare interrupt
+}


I Think that controllerSetup need to be a singleton that will be parent of Controller,
in that case the setup will only run once and it will be integrated in Controller class.

I Disagree, since this actually only setups a 20ms interruption, this should be handled by some kind of scheduler, along with other periodic tasks.

That's right. Maybe a scheduler is really a better place to do that.

opened issue #19

patrickelectric · 2016-06-25T23:30:03Z

Please, change all class variables with a prefix, like m_variable in Controller

patrickelectric · 2016-06-25T23:37:23Z

Firmware/ControladorRobo/control.cpp

+        this->td = td;
+        this->ts = ts;
+        this->taw = ti;
+    }


1º use a standard like:
tc,ti,td,ta
or
kc,ki,kd,ts

This seems to be the most common standard in industry, as seen here.
But I'll add the equations as comments to be clearer

Please, do that and use this as example.

Again, out of scope, opened issue #21

patrickelectric · 2016-07-29T19:23:16Z

@Williangalvani, news ?

patrickelectric · 2016-08-05T03:03:37Z

Firmware/ControladorRobo/control.cpp

+
+    u_total = up + ui + ud;
+
+    u_sat = min(umax,max(u_total,umin)); //saturação


use sat function [not now].
Its necessary to create a generec file with some util functions

#24 created

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric · 2016-08-05T03:10:42Z

Firmware/ControladorRobo/hbridge.cpp

@@ -51,6 +51,11 @@ void HBridge::setWheelPWM(uint8_t wheel, float speed)
        digitalWrite(pin_f,HIGH);
        digitalWrite(pin_b,LOW);
    }
+    else if(speed ==0)
+    {
+      digitalWrite(pin_f,HIGH);


Signed-off-by: Willian Galvani <williangalvani@gmail.com>

…ollers gains accordingly Fix robotadasufsc#11 Signed-off-by: Willian Galvani <williangalvani@gmail.com>

- Made it start turned on by default; - New sensor reading function; - Called readSensors during calibration phase, so the calibration actually happens Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric · 2016-08-05T03:12:54Z

Firmware/ControladorRobo/irarray.cpp

    int size = sizeof(m_sensor)/sizeof(m_sensor[0]);
    for(int i=0;i<size;i++)
    {
      sumOfMass += m_sensor[i];
      sumOfMassXdistance += m_sensor[i] *i;
+      maxValue = max(m_sensor[i],maxValue);


Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric · 2016-08-05T03:23:28Z

Firmware/ControladorRobo/irarray.cpp

    }
    else
    {
-        return nullptr;
+        return 0;
    }


If i < sizeof(m_sensor) and typ != NORMAL, MAX, MIN. It will return something crazy, as a default behaviour I think that it's better to return NORMAL.

case NORMAL: default: return m_sensor[i] break;

patrickelectric · 2016-08-05T03:31:01Z

Firmware/ControladorRobo/irarray.cpp

@@ -119,7 +119,7 @@ float IRArray::estimateLinePosition()
      maxValue = max(m_sensor[i],maxValue);

    }
-    if (maxValue>150)
+    if (maxValue>200) //TODO: Should not be hardcoded


maxValue[ Space ]>[ Space ]200

patrickelectric · 2016-08-05T03:59:54Z

Firmware/ControladorRobo/irarray.cpp

+float IRArray::estimateLinePosition()
+{
+    float sumOfMassXdistance = 0;
+    float sumOfMass=0;


sumOfMass = 0;

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

… place Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

…sensor Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

rename controle.h to control.h

2617c9b

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric reviewed Jun 25, 2016
View reviewed changes

Williangalvani force-pushed the rework branch from 8580afd to ee0ec78 Compare August 5, 2016 02:58

patrickelectric reviewed Aug 5, 2016
View reviewed changes

Split control.h into control.cpp and control.h

bb28dc6

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric reviewed Aug 5, 2016
View reviewed changes

Williangalvani added 5 commits August 5, 2016 00:10

instantiate invididual speed controllers for each wheel

1a94d5d

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Change Hbridge so it now receives a [1,-1] speed range, changed contr…

9e5f970

…ollers gains accordingly Fix robotadasufsc#11 Signed-off-by: Willian Galvani <williangalvani@gmail.com>

IRArray improvemnts

774987c

- Made it start turned on by default; - New sensor reading function; - Called readSensors during calibration phase, so the calibration actually happens Signed-off-by: Willian Galvani <williangalvani@gmail.com>

IRArray: Add basic line position estimation

707aea3

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

change callibration timer to turn only one time during calibration

77601fa

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric reviewed Aug 5, 2016
View reviewed changes

HBridge: handle case where speed==0

d2a1937

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

patrickelectric reviewed Aug 5, 2016
View reviewed changes

Williangalvani force-pushed the rework branch from ee0ec78 to 3d4a91c Compare August 5, 2016 03:28

patrickelectric reviewed Aug 5, 2016
View reviewed changes

Williangalvani force-pushed the rework branch 3 times, most recently from 09bbf46 to 20da6aa Compare August 5, 2016 03:46

patrickelectric mentioned this pull request Aug 5, 2016

Use encoder ticks to rotate robot #25

Open

Williangalvani force-pushed the rework branch from 20da6aa to a9cb4c8 Compare August 5, 2016 03:52

patrickelectric reviewed Aug 5, 2016
View reviewed changes

Williangalvani added 11 commits August 5, 2016 01:01

Make IRArray remember line position when it's out of sensors range

35a5eb3

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Add simple line-following capabilities

6d23448

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Change direction actuation frequency into a define

557286f

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

fix calibration not being loaded, and defaults being set on the wrong…

63de6be

… place Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Make calibration run continuously

ef3acd0

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

added casts to force typing on map function

4256ef8

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Enable IRArray::sensor to return NORMAL, MIN, or MAX values for each …

e705dc7

…sensor Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Use explicit map declaration

3f88c73

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Change IRArray::sensorLow and IRArray::sensorMAX to uint8_t, for clarity

c6acd78

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Changed 'line loss check threshold' to a higher value

61b8784

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Removed reduntant array size calculation

88c52e4

Signed-off-by: Willian Galvani <williangalvani@gmail.com>

Williangalvani force-pushed the rework branch from a9cb4c8 to 88c52e4 Compare August 5, 2016 04:02

patrickelectric merged commit 3e69654 into robotadasufsc:rework Aug 5, 2016

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Rework #16

Rework #16

Williangalvani commented Jun 25, 2016

patrickelectric Jun 25, 2016 •

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patrickelectric commented Jun 25, 2016 •

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patrickelectric commented Jul 29, 2016

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patrickelectric Aug 5, 2016

patrickelectric Aug 5, 2016


		u_total = up + ui + ud;

		u_sat = min(umax,max(u_total,umin)); //saturação

Rework #16

Rework #16

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Williangalvani commented Jun 25, 2016

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patrickelectric commented Jul 29, 2016

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patrickelectric Jun 25, 2016 •

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patrickelectric commented Jun 25, 2016 •

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