1. 17 Feb, 2021 1 commit
    • 13035516's avatar
      no linear control method will work because the pwm input to current output is... · 83e2110f
      13035516 authored
      no linear control method will work because the pwm input to current output is non-linear (sigmoid). Tapers off towards max current output. Matched sigmoid using python scipy.optimize.curve_fit and measured everything across input5. Also added a low-pass filter in case that comes in handy for current measurement. Changed the frequency output from 7.81kHz to 31.4kHz with a change in resolution from 1023 to 255. But 255 gives a resolution of around 1.41deg per unit and 9.8mA / unit so it's really not that bad
      83e2110f
  2. 11 Feb, 2021 1 commit
  3. 06 Feb, 2021 1 commit
  4. 05 Feb, 2021 1 commit
  5. 04 Feb, 2021 5 commits
  6. 03 Feb, 2021 2 commits
  7. 02 Feb, 2021 2 commits
  8. 01 Feb, 2021 1 commit
  9. 28 Jan, 2021 1 commit
  10. 27 Jan, 2021 1 commit
  11. 26 Jan, 2021 1 commit
  12. 25 Jan, 2021 2 commits
  13. 22 Jan, 2021 1 commit
  14. 20 Jan, 2021 1 commit
  15. 19 Jan, 2021 1 commit
  16. 12 Jan, 2021 1 commit
  17. 11 Jan, 2021 1 commit
  18. 24 Dec, 2020 1 commit
  19. 17 Dec, 2020 1 commit
  20. 16 Dec, 2020 1 commit
  21. 11 Dec, 2020 2 commits
  22. 20 Nov, 2020 1 commit
  23. 06 Nov, 2020 1 commit
  24. 31 Oct, 2020 1 commit
    • 13035516's avatar
      Added a number of new classes and changes. The pwm for pins 11 and 12 have a... · 87c7746c
      13035516 authored
      Added a number of new classes and changes. The pwm for pins 11 and 12 have a 10-bit res option with no prescale divider for the clock. The config file contains the plant transfer functions. Implemented the feedforward plant driver along with the PD controller and plant with switching modes between current measuring and motor driving.
      87c7746c
  25. 27 Oct, 2020 1 commit
  26. 25 Oct, 2020 1 commit
  27. 21 Oct, 2020 1 commit
    • 13035516's avatar
      Added i2c for current sense (note only works if wired via power supply,... · d379c027
      13035516 authored
      Added i2c for current sense (note only works if wired via power supply, accelerometer to angle conversions implemented. For motor, measure via the y axis, minor reconfiguring of libraries. Note that PING is used elsewhere in other libraries. Might be better to call it 'COMPING' or 'SERPING'
      d379c027
  28. 06 Oct, 2020 1 commit
  29. 24 Sep, 2020 2 commits
  30. 03 Sep, 2020 2 commits