6 Commits

Author	SHA1	Message	Date
Kristof Robot	4d399627e6	Added direct support for wheel encoders (Arduino Uno) ... Added support for wheel encoder counting directly on the main Arduino board. This allows connecting wheel encoders directly to the Arduino board, without the need for any additional wheel encoder counter equipment. For speed, the code is directly addressing the specific Atmega328p ports and interrupts, making this implementation Atmega328p (Arduino Uno) dependent. It should be easy to adapt for other boards/AVR chips though.	2014-12-29 20:13:22 +01:00
Kristof Robot	7887d639f3	Bugfix - removed reset wind-up fix ... Removed the reset windup prevention code, as the old code already took care of that by only incrementing Ierror when output was not being clamped.	2013-08-16 16:16:48 +02:00
Kristof Robot	2c9881552b	Bugfix: added resetPID() call in RESET_ENCODERS statement, ... to ensure that PID gets reset when encoders get reset.	2013-08-16 15:04:33 +02:00
Kristof	dad031ee2c	Enhanced PID algorithm ... Enhanced PID algorithm based on the series of blog posts at http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/ Specifically: 1. Avoid derivative kickback - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ 2. Allow smooth on-the-fly tuning changes - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/ 3. Reset windup mitigation - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-reset-windup/ 4. Bumpless initialization - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/	2013-08-16 10:52:57 +02:00
Patrick Goebel	849cb2ec83	Incorporated changes from James Nugen into ROSArduinoBridge library	2012-12-27 16:48:12 -08:00
Patrick Goebel	3d028f3bec	Added ROSArduinoBridge sketch which breaks out the motor controller and encoder functions	2012-12-26 09:42:33 -08:00