servo360/abdrive360 punch list

[AndyLindsay]

Links

Instructions for setup and testing
abdrive360 - Features
servo360 - Features
Simple Libraries Community Branch

Current List

• servo360 - ActivityBots with similarly asymmetric zero speed deadband servos not meeting navigation goals
  • servo360 - try increasing start pulse duration
  • servo360 - try one or more kick-start pulses to get both servos moving
  • abdrive360/servo360 - try EEPROM calibration / transfer function adjusting functions
  • servo360 - try adding delay in calculated distance during acceleration
  • servo360 - try stronger control system settings after delay in acceleration
    .
• servo360 - Add Doxygen comments & generate docs
• abdrive360 - Add Doxygen comments & generate docs
  .
• servo360 - ActivityBots fishtails in transitions out of turns at high speeds
  • servo360 - try adding delay in calculated distance during acceleration
  • abdrive360/servo360 - try EEPROM calibration / transfer function adjusting functions
  • servo360 - try reducing the control system's effect during turns
    .
• abdrive360 - Angle holding control system not aggressive enough

Basics

• abdrive360, servo360 - Instructions for setup and testing 9/16 completed
• abdrive360 - Unable to set max velocity for drive_goto 9/16 completed
• servo360 - Add examples to ...Learn\Examples\Devices\Motor 9/16 completed
  Note: ActivityBot examples can also be found in ...Learn\Examples\ActivityBot360\
• abdrive360 - Initial Tests 9/16 completed
• servo360 - Increase number of servos supported 9/17 completed
• servo360 - Replace waitcnt(t+=dt) with while(CNT-t<dt) 9/18 completed, 9/19 fixed
• servo360 - functions to adjust control system constants 9/20 Completed
• servo360 - Prevent binary overflow of 12-bit angle 9/22 Completed
• servo360 - Software Angle Limits 9/22 Completed
• servo360 - List of Functions to Test and/or Debug - First Round 9/23 Completed
• servo360 - Fix servo360_goto so that it doesn't get confused by a new target angle 9/24 Completed
• servo360 - speed calls > 50 Hz cause control system confusion 9/25 added, completed
• servo360, abdrive360 - gracefully respond to stalls 9/25 added, completed

For blockly demo

• servo360 - Move functions into individual files to reduce code space 9/24 Completed
• abdrive360 - Fix lost encoder increment on right wheel Closed 9/25
• abdrive360 - Control system tuning
  9/25 angular PID tuned and works much better now! Will work on velocity PID next.
• Test existing applications. 9/26 Fail - see 64 ticks per second hesitations section below. Overshoot would also lead to significant block and document changes.
• servo360 - 64 ticks per second hesitations in some test units 9/28 completed
• Make max headway in Current List below
• Retest existing applications.
  Reminders: abdrive360 - test speed, then goto, then back to speed, servo360 - retest 3 and 4 servos for jitter.
• servo360 - Need functions for absolute vs. relative encoder positions 9/25 added
• servo360 - Back to 4 servos 9/28, added, done 9/28 added, done
• servo360 - Add coupling feature for a given pair of servos 9/28 added, done
• servo360 - Add scalar for coupling control 9/28 added, done
• servo360 - Reduce overshoot and tame acceleration response 9/28 added, 9/29 completed
• servo360/abdrive360 Simple Library Minimum Checklist

Future List

• servo360 - Set turns to zero with less thinking 9/25 added
  .
• servo360 - function that sets control system constants based on nominal battery voltage 9/25 added
• servo360 - public version of getSpeed that averages 9/25 added
• servo360 - public gotoStatus function 9/25 added
• servo360 - Option to increase by up to 4 servos with each extra cog
  .
• servo360 - Limiting angles incompatible with resetting turns 9/25 added
• servo360 - replace "top" with "max" unless it's really top 9/25 added
  .
• servo360 - Improve or remove coupling near zero speed deadband 9/28 added, reduced priority

For SimpleIDE

• abdrive360 - Add code comments
• servo360 - Add code comments
• servo360 - Make sans feedback mode work
• servo360 - servo360_goto problems with 360 degree resolution

Notes

Items added here will typically be deleted or moved to issues.

Limit pulse widths

Acceleration/deceleration sans fudge factor

Constants that no longer need (int) cast

110 to 100 here:
fb[p].ticksGuard = ( fb[p].speedReq * abs(fb[p].speedReq) ) / (110 * fb[p].rampStep);

Do we need separate opMax and opMaxV?
Add more basic getting started links to Instructions for setup and testing.

Bring stall detection to the surface
User hooks for stall and no signal detection

Frequently used Text

Closed in this commit, but always make sure to get the latest from the community branch.

• Subject Date added