yikestone/ros_arduino_bridge
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Author SHA1 Message Date
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
71b8c5876e Updated README to remove the 'rosdep install' command as it is not working on some setups 2013-03-19 18:15:02 -07:00
Patrick Goebel
317a9757d1 Updated README to include dependency on python-serial 2013-03-05 08:19:39 -08:00
Patrick Goebel
90b0503a96 Merge branch 'master' of https://github.com/hbrobotics/ros_arduino_bridge 2013-03-05 08:14:58 -08:00
Patrick Goebel
4607c1cf8e Added rosdep on python-serial to manifest.xml in ros_arduino_python package 2013-03-05 08:14:16 -08:00
Patrick Goebel
b8f76fc31f Added traceback call to arduino_driver.py to better diagnose serial port problems. 2013-02-24 18:08:00 -08:00
Patrick Goebel
3739466008 Added traceback call to arduino_driver.py to better diagnose serial port problems. 2013-02-24 18:03:59 -08:00
Patrick Goebel
44632157f3 Fixed extraneous backslash characters in README file 2013-02-24 17:47:21 -08:00
Patrick Goebel
e0fcbbfec8 Updated README file to include instructions on setting permissions on the serial port 2013-02-24 17:40:51 -08:00
Patrick Goebel
d9d0c8b2a8 Changed default port in arduino_params.yaml from /dev/ttyUSB0 to /dev/ttyACM0 2013-02-24 08:14:42 -08:00
Patrick Goebel
f03fad0d5a Updated README.md 2013-02-22 06:43:52 -08:00
Patrick Goebel
3597468376 Updated README PhidgetsVoltage and PhidgetsCurrent sensors 2012-12-31 11:28:47 -08:00
Patrick Goebel
b7e1e3d6ec Updated README with accel_limit parameter 2012-12-31 11:15:55 -08:00
Patrick Goebel
9b2a7669bd Fixed odom rate bug; changed Analog.msg to int16; added PhidgetsVoltage and PhidgetsCurrent sensor types 2012-12-31 08:13:48 -08:00
Patrick Goebel
11f8cd6deb Deleted extraneous .pyc files 2012-12-29 10:30:51 -08:00
Patrick Goebel
8d89f851fc Fixed bug in base_controller.py that reversed left/right for encoder counts and motor speeds 2012-12-29 09:09:57 -08:00
Patrick Goebel
b9913e6d6a Updated the README to use the new ROSArduinoBridge library instead of the MegaRobogaiaPololu sketch 2012-12-28 07:47:38 -08:00
Patrick Goebel
4c057db685 Updated the README to use the new ROSArduinoBridge library instead of the MegaRobogaiaPololu sketch 2012-12-28 07:46:46 -08:00
Patrick Goebel
849cb2ec83 Incorporated changes from James Nugen into ROSArduinoBridge library 2012-12-27 16:48:12 -08:00
Patrick Goebel
01cca86e40 README updated with instructions on testing motor and encoder connections 2012-12-26 09:49:11 -08:00
Patrick Goebel
554c4c8def README updated with instructions on testing motor and encoder connections 2012-12-26 09:46:32 -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
Patrick Goebel
6ca8832984 README.md updated withe instructions on testing motor and encoder connections 2012-12-26 09:40:18 -08:00
Patrick Goebel
d86e314ce5 Merge branch 'master' of https://github.com/hbrobotics/ros_arduino_bridge 2012-12-24 07:49:44 -08:00
Patrick Goebel
177171332a Servo positions are now specified in radians instead of degrees 2012-12-24 07:48:34 -08:00
Patrick Goebel
9614e9b29a Changed from degrees to radians when specifying servos positions 2012-12-23 15:13:51 -08:00
Patrick Goebel
eaf6b422ad Updated README.md 2012-12-21 19:41:21 -08:00
Patrick Goebel
ad01b6ad55 Fixed bug in arduino_node.py changing aggregate topic name from sensors to sensor_state 2012-12-21 18:07:11 -08:00
Patrick Goebel
a1a87116f5 Changed mode variable to arg in MegaRobogaiaPololu sketch 2012-12-20 07:17:08 -08:00
Patrick Goebel
252ec14490 Changed mode variable to arg in MegaRobogaiaPololu sketch 2012-12-20 06:26:08 -08:00
Patrick Goebel
603154c1a9 Added more comments to MegaRobogaiaPololu sketch 2012-12-17 05:35:20 -08:00
Patrick Goebel
4d58c7be36 Log file deteled 2012-12-17 05:28:48 -08:00
Patrick Goebel
aadcd53f50 Added more comments to MegaRobogaiaPololu sketch 2012-12-16 18:53:49 -08:00
Patrick Goebel
a679f6a437 Updated README 2012-12-16 09:53:21 -08:00
Patrick Goebel
c5b17672da Updated README 2012-12-16 09:52:32 -08:00
Patrick Goebel
91878d7e74 Updated README 2012-12-16 09:50:33 -08:00
Patrick Goebel
5416fccb43 Fixed bug in GP2D12 distance function 2012-12-15 18:37:17 -08:00
Patrick Goebel
3b2742b444 Added some comments to MegaRobogaiaPololu sketch 2012-12-15 11:00:40 -08:00
Patrick Goebel
9befd256ed Fixed typos in README 2012-12-15 10:45:31 -08:00
Patrick Goebel
d9f3c7a87c Fixed typos in README 2012-12-15 08:59:15 -08:00
Patrick Goebel
70a0d712c5 First commit 2012-12-15 07:36:59 -08:00