Michael Ferguson
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e3b7d2498c
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merge
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2013-11-24 12:48:45 -08:00 |
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Kristof Robot
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7887d639f3
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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.
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2013-08-16 16:16:48 +02:00 |
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Kristof Robot
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2c9881552b
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Bugfix: added resetPID() call in RESET_ENCODERS statement,
to ensure that PID gets reset when encoders get reset.
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2013-08-16 15:04:33 +02:00 |
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Kristof
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dad031ee2c
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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/
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2013-08-16 10:52:57 +02:00 |
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Michael Ferguson
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12a7ca4dbb
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catkinize
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2013-02-02 12:43:37 -08:00 |
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Patrick Goebel
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849cb2ec83
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Incorporated changes from James Nugen into ROSArduinoBridge library
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2012-12-27 16:48:12 -08:00 |
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Patrick Goebel
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3d028f3bec
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Added ROSArduinoBridge sketch which breaks out the motor controller and encoder functions
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2012-12-26 09:42:33 -08:00 |
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Patrick Goebel
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177171332a
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Servo positions are now specified in radians instead of degrees
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2012-12-24 07:48:34 -08:00 |
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Patrick Goebel
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ad01b6ad55
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Fixed bug in arduino_node.py changing aggregate topic name from sensors to sensor_state
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2012-12-21 18:07:11 -08:00 |
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Patrick Goebel
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a1a87116f5
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Changed mode variable to arg in MegaRobogaiaPololu sketch
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2012-12-20 07:17:08 -08:00 |
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Patrick Goebel
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252ec14490
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Changed mode variable to arg in MegaRobogaiaPololu sketch
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2012-12-20 06:26:08 -08:00 |
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Patrick Goebel
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603154c1a9
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Added more comments to MegaRobogaiaPololu sketch
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2012-12-17 05:35:20 -08:00 |
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Patrick Goebel
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aadcd53f50
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Added more comments to MegaRobogaiaPololu sketch
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2012-12-16 18:53:49 -08:00 |
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Patrick Goebel
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3b2742b444
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Added some comments to MegaRobogaiaPololu sketch
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2012-12-15 11:00:40 -08:00 |
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Patrick Goebel
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70a0d712c5
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First commit
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2012-12-15 07:36:59 -08:00 |
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