Finalize Motor Controller - #51

Draft

justinnuwin wants to merge 47 commits into

fprime-fsw/stagingfrom

justin/fprime/navigation

Commits on Apr 8, 2021

Fix motor contorl writing to read only register for controlling motors. Add FIXMEs for conversion from commanded values to motor control values
justinnuwin
committed
2883610

Commits on Apr 10, 2021

Merge branch 'fprime-fsw/staging' into justin/fprime/navigation
justinnuwin
committed
c3253ed
Checking in latest motor control code, still changes to be made
Iris Watchdog Developers
committed
335b8f7

Commits on Apr 11, 2021

Substantial code cleanup and formatting and notes from code review also included in this commit (sorry it's messy)
justinnuwin
committed
5fb79fa
Refactor I2C specific code out of fprime component into its own translation unit.
justinnuwin
committed
c921abe
Additional formatting
justinnuwin
committed
fe7baf6
Ignoring build folders (release & debug)
Iris Watchdog Developers
committed
b4ecff6
Integrated open loop control (that will actually drive rover) and connected it to i2c interface; can be toggled with first bit in controlRegister
Iris Watchdog Developers
committed
9a75fa6
Added flag for position converging in status register, also cleaned up how controlRegister works a bit
Iris Watchdog Developers
committed
3630a85
Fixed telemetry values to match C&TL document
Iris Watchdog Developers
committed
a1b108f

Commits on Apr 12, 2021

Commits on Apr 13, 2021

Changed relative_target_position to just target_position; new commands are added to position instead of resetting it
Jonathan Schwartz
committed
45a4b30
Slight bugs resolved for t-vac testing
cedriccorpa
committed
8406ac9

Commits on Apr 14, 2021

Modified Watchdoginterface reset commands to be enumerations to prevent impossible reset commands
alecjprobst
committed
47029dc

Commits on Apr 15, 2021

Merge branch 'justin/fprime/groundinterface_staging' into justin/fprime/navigation
justinnuwin
committed
28e7e63
Debugging motor control i2c (thanks justin :D)
Iris Watchdog Developers
committed
a99cb69
Checkin motor control component changes and clean up for EM4 checkout
justinnuwin
committed
1d32315
Major code cleanup, simplification, annotation, and conformance modificaitons to MotorControlComponent. Needs testinggit status
justinnuwin
committed
553607c

Commits on Apr 16, 2021

spotty i2c issues resolved! Don't put all of your code in an interrupt :S ... controller is a bit wacky now, probably due to timing being different now that it isn't in interrupt. Will investigate
Iris Watchdog Developers
committed
967745a
Modified WatchdogInterface to add new commands and updated with comments
alecjprobst
committed
d2ac18d
i2c interrupts now turn off timer interrupt while they are running, seems to have resolved last remaining funkiness
Iris Watchdog Developers
committed
b44b5bd
Added more comments to cpp and hpp files
alecjprobst
committed
fdd82d3
Updated hpp file with final comments
alecjprobst
committed
663ed9b

Commits on Apr 20, 2021

Modified .xml file to include new variables defined by Connor. Changed .cpp/.hpp to reflect these new variables. Should be no change on how program runs normally since functions only used by Watchdog
alecjprobst
committed
0844349

Commits on Apr 21, 2021

Commits on Apr 23, 2021

Working on open loop
Iris Watchdog Developers
committed
e16960e

Commits on Apr 27, 2021

Open loop bug resolved, also will now converge and change flag
Iris Watchdog Developers
committed
c23c24e
Added timeout to motor controllers (~128 seconds), implemented EXECUTE_COMMAND bit of control register, added ability to override default open loop PWM and control it using the desired speed given …
Iris Watchdog Developers
committed
8635458

Commits on Apr 28, 2021

Going to revert back to older commit
Iris Watchdog Developers
committed
914f90a

Commits on Apr 29, 2021

i2c funkiness (part a million) resolved. Must. not. put. too. much. in. interrupts.
Iris Watchdog Developers
committed
b5a93d8

Commits on May 1, 2021

Checking in code after testing with Justin
Iris Watchdog Developers
committed
503c121
Check in WORKING and TESTED motor control code and test pattern in Main
justinnuwin
committed
91ac7cc
Fixed i2c readings for speed & current PI gains, also updated timeout counter to actually work
Iris Watchdog Developers
committed
68945d4
Add tests for Kp, openloop, and timeout
justinnuwin
committed
f2bc311
Cleaned up code & corrected small bug with integral term being fully reset (caused stop-start behavior when given large position setpoints
Iris Watchdog Developers
committed
01e8a3f
Merge pull request #52 from PlanetaryRobotics/jSchwartz/motorController/finalization-#51
Jonathan Schwartz
authored
e5d4636

Commits on Oct 15, 2021

trying to fix gitingore
iris-hermes-mobile
committed
4ba99b8

Commits on Oct 26, 2021

removing build files that we don't want on github
iris-hermes-mobile
committed
4dcf4e9