Finalizing MSP430 motor controller - #52

Merged

SchwartzCode merged 21 commits into

justin/fprime/navigationfrom

jSchwartz/motorController/finalization-#51

May 1, 2021

Commits on Apr 10, 2021

Checking in latest motor control code, still changes to be made
Iris Watchdog Developers
committed
335b8f7

Commits on Apr 11, 2021

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
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9a75fa6
Added flag for position converging in status register, also cleaned up how controlRegister works a bit
Iris Watchdog Developers
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3630a85
Fixed telemetry values to match C&TL document
Iris Watchdog Developers
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a1b108f

Commits on Apr 12, 2021

Added internal check that motor is opreating as expected; if it isn't for several time steps then a flag is added to status_register and controller stops trying to drive motor (until it is given a …
Iris Watchdog Developers
committed
4561059
Added ability to toggle controller stopping itself when a fault is encountered
Iris Watchdog Developers
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1c24bf0
Made fault register useful (indicators for faults of position not changing or driving in the wrong direction)
Iris Watchdog Developers
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666f1d6

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
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45a4b30
Slight bugs resolved for t-vac testing
cedriccorpa
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8406ac9

Commits on Apr 15, 2021

Debugging motor control i2c (thanks justin :D)
Iris Watchdog Developers
committed
a99cb69

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
i2c interrupts now turn off timer interrupt while they are running, seems to have resolved last remaining funkiness
Iris Watchdog Developers
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b44b5bd

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
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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
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503c121
Fixed i2c readings for speed & current PI gains, also updated timeout counter to actually work
Iris Watchdog Developers
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68945d4
Cleaned up code & corrected small bug with integral term being fully reset (caused stop-start behavior when given large position setpoints
Iris Watchdog Developers
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01e8a3f