Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Change 300ms time delay to a while loop #341

Open
wants to merge 7 commits into
base: master
Choose a base branch
from
Open

Change 300ms time delay to a while loop #341

Changes from 3 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
1bfee77
Change 300ms time delay to a while loop
abnv-goyal Nov 5, 2024
1233805
Fix formatting issue
abnv-goyal Nov 5, 2024
2a1ba7c
Fix formatting issues in TunePID
abnv-goyal Nov 5, 2024
2823947
Make TunePID throw an error if starting angle is not found
abnv-goyal Nov 9, 2024
1e31620
Change datatype of timeout from int to milliseconds
abnv-goyal Nov 9, 2024
69dce12
Make code exit if starting angle not found
abnv-goyal Nov 16, 2024
08fda94
Make log message Error instead of Warning if TunePID can't find start…
abnv-goyal Nov 19, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 16 additions & 3 deletions src/TunePID.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -137,8 +137,21 @@ int main(int argc, char** argv) {

double period = 8.0;

std::this_thread::sleep_for(300ms); // wait for encoder position data to arrive
int32_t starting_angle = can::motor::getMotorPosition(serial);
time_point<steady_clock> start = steady_clock::now();
int timeout = 300; // in milliseconds
abnv-goyal marked this conversation as resolved.
Show resolved Hide resolved
DataPoint<int32_t> starting_angle_data_point = can::motor::getMotorPosition(serial);
while (!starting_angle_data_point.isValid() &&
steady_clock::now() - start < milliseconds(timeout)) {
starting_angle_data_point = can::motor::getMotorPosition(serial);
}

int32_t starting_angle;
if (starting_angle_data_point.isValid()) {
starting_angle = starting_angle_data_point.getData();
abnv-goyal marked this conversation as resolved.
Show resolved Hide resolved
} else {
LOG_F(WARNING, "STARTING ANGLE DATA NOT FOUND");
abnv-goyal marked this conversation as resolved.
Show resolved Hide resolved
abnv-goyal marked this conversation as resolved.
Show resolved Hide resolved
}

int32_t angle_target = starting_angle;
double acc_error = 0.0;
int total_steps = 0;
Expand All @@ -159,7 +172,7 @@ int main(int argc, char** argv) {
if (mode == targetmode_t::step) {
prescaled_target = round(prescaled_target);
}
angle_target = (int32_t) round(amplitude * prescaled_target) + starting_angle;
angle_target = (int32_t)round(amplitude * prescaled_target) + starting_angle;

can::motor::setMotorPIDTarget(serial, angle_target);

Expand Down