teamtriforceuk / triforce-control Goto Github PK
View Code? Open in Web Editor NEWControl software for Triforce robot.
License: MIT License
Control software for Triforce robot.
License: MIT License
This is a working document to determine what we want in triforce-control v1.0.0. All discussions are welcome. Development is taking place on rtos-dev
.
Arm State | LED0 | LED1 | LED2 | LED3 |
---|---|---|---|---|
DISARMED | OFF | OFF | OFF | OFF |
DRIVE_ONLY | ON | ON | OFF | OFF |
FULLY_ARMED | ON | ON | ON | ON |
http://www-personal.umich.edu/~johannb/Papers/y
https://youtu.be/3yXlmJyL7pE
Serial logging is useful for development purposes, but is useless when fighting. Logging to the web interface will allow status monitoring during fighting.
This will prevent help reduce unintended behavior and more explicit code.
Ideally we should set up continuous integration to flag compile errors. I've been having some trouble adding continuous integration to the repository. The latest attempts are in the master branch.
Using Travis
I'm giving up for now, leaving this for someone to pick up at a later time.
There is quite a significant delay between stick movements on controller and PWM output, likely caused by controller input and PWM output being in separate threads. Fix: do in one thread.
Currently the weapon outputs are commented out , and the weapon ESCs are connected directly to the receiver. In a perfect world the mbed would be used to filter weapon signal from transmitter to prevent rapid spikes in throttle.
We already receive status commands from VESCs. Also allow VESCs to be controlled via CAN bus rather than PWM.
The current codebase is 'horrendous' ๐
We should at least get this thing using mbed RTOS.
CANBUS can be used to communicate with ESCs. This allows sensor data to be collected from the ESC as well as allowing motor control.
List of commands here: https://github.com/TechAUmNu/A450S/blob/master/comm_can.c
We currently use some deprecated features that prevent us from updating to the latest version of mbed-os
. Write replacements for these features and update to the latest.
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