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Encoder testing, motor identification

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This commit is contained in:
evlryah 2023-09-29 15:22:19 -05:00
parent 55a0b6549f
commit 3cb21d195f
2 changed files with 18 additions and 4 deletions
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9
src/globals.h
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@ -15,9 +15,12 @@ extern long last_p;
*/
// Loop timing
#define LOOP_DELAY_MS_CORE_0 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
// TODO TEMPORARY CHANGED TO 1000, NORMAL 50
#define LOOP_DELAY_MS_CORE_0 5000 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
#define LOOP_DELAY_SECONDS_CORE_0 ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
#define LOOP_DELAY_MS_CORE_1 50 // Minimum milliseconds between the start of each loop, accounting for processing time during each loop
#define LOOP_DELAY_SECONDS ((float)LOOP_DELAY_MS_CORE_0 / 1000.0f) // Previous number expressed in seconds
#define LOOP_DELAY_SECONDS_CORE_1 ((float)LOOP_DELAY_MS_CORE_1 / 1000.0f) // Previous number expressed in seconds
// Math things
#define DEGREES_PER_RADIAN (180.0 / M_PI)
@ -86,7 +89,7 @@ extern long last_p;
// Tilt servo control parameters
#define TILT_ANGLE_MIN_UPDATE_INTERVAL 0.2f // Update the tilt servo's target angle only after this many seconds have elapsed since the previous angle update
#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS) // Previous value expressed as a number of control loops to wait between updates
#define TILT_ANGLE_MIN_UPDATE_LOOPS (TILT_ANGLE_MIN_UPDATE_INTERVAL / LOOP_DELAY_SECONDS_CORE_0) // Previous value expressed as a number of control loops to wait between updates
#define TILT_ANGLE_UPDATE_DISTANCE 10.0f // Distance in degrees to shift the servo angle by each update
#define TILT_MAX_ANGLE 90.0f // Maximum angle allowed for the tilt servo
#define TILT_MIN_ANGLE -90.0f // Minimum angle allowed for the tilt servo

13
src/main.cpp
View File

@ -973,6 +973,7 @@ void loop() {
telemetry(zeroed_lx_float, zeroed_ly_float, zeroed_rx_float, zeroed_ry_float, loop_drive_mode, left_joystick_angle, left_joystick_magnitude, right_joystick_angle, right_joystick_magnitude); // DEBUG ONLY, print steering motor encoder positions
// update motors after calculation
/*
set_motor(FLSTEER, swrv.front_left_spin_power);
set_motor(BRSTEER, swrv.back_right_spin_power);
set_motor(FRSTEER, swrv.front_right_spin_power);
@ -981,6 +982,16 @@ void loop() {
set_motor(BRDRIVE, swrv.back_right_power);
set_motor(FRDRIVE, swrv.front_right_power);
set_motor(BLDRIVE, swrv.back_left_power);
*/
for(int i = 0; i < 8; i++) {
if(i == loop_counter_core_0 % 8) {
set_motor(i + 1, 127);
Serial.print("Powering motor");
Serial.println(i + 1);
} else {
set_motor(i + 1, 0);
}
}
// update stepper motors
set_motor(LIFTALL, clawarm.arm_set_motor_int);
@ -1145,7 +1156,7 @@ void loop() {
previous_loop_processing_duration_core_0 = millis() - previous_loop_start_time_core_0;
int64_t delay_time_ms = LOOP_DELAY_MS_CORE_0 - (int64_t) previous_loop_processing_duration_core_0; // Dynamically calculate delay time
if(delay_time_ms > 0 && delay_time_ms < 100) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
if(delay_time_ms > 0/* && delay_time_ms < 100*/) { // Only delay if the processing time has not exceeded LOOP_DELAY_MS_CORE_0
delay(delay_time_ms);
}
loop_counter_core_0++;