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Created with Raphaël 2.2.017Feb1165432128Jan272625222019121124Dec17161120Nov631Oct272521624Sep3no 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 badmastermasteradjusted parameters and added mass to impedanceimplemented 200Hz control delivery rate for plant input effortnow had bidrectional driveregular comms is more robust now and works relatively well. 300ms delay until next command can be inputchanged from data_pkt to send_pkt and it fixed the 'F' ack on slave endimplemented some wait times for the ready ack and chksum ack. implemented timeouts too.cleaned up merge changes and stopped the motor running during setuprevert and merged to most clean version. now to work on the comms. I think the issue is not sending out the len-1 byte with the datamerging the revertchanges to motor enable pin and now there is a bug in the rs232 commsadded control options, current averaging, encoder reads and braking functionsupdated Kdpid and discrete controller both work now. pid is a bit betterfixed errors in byte order and crc calculationcrc check worksadded ooi component for regulated comms. It seems to work fairly robustlycleaned up for OK detectionprotocol for single command successfully implementedmanaged to get the rs232 comms kind of working. logic needs to be cleaned up and the protocol needs to be cleaned up tooupdated comms for faster networking and protocol readingLooking to get the rs232 communication set upchanges to the spring constantsremoved limiter on current velocity to allow faster impedance matchingdiscrete controller now works iteratively and is fairly robust. Impedance model has added dampeningafter adding the capacitor 1uF between Vmot_out and GND, the original control equation worked better. also fixed impedance control math errorsmoving away from admittance and going to impedance control. added pid, discrete control design and open loop ramp rate. Eliminated a lot of dev fluffadded current control. This output needs to be scaled to a pwm format upon use with max as 12Vadded some buttons and configuration changescreated a control and admittance discrete transfer function with coefficients designed for a rise time of 0.6sadded PID control and the angle model with ZOHAdded 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.enabled some position control over the geared dc motoradded i2c and averaging for the current sensor. attempted to work the stepper motor but the driver fried. Broke likely due to regular connection and disconnection of the motor while still powered on.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'added motor current sensing and triggerupdated commsadded ser comms and accelenabled servo support that is driven by potentiometer for nowbasic script to read and write from serial with potentiometer reading completed