Kristof Robot
4d399627e6
Added direct support for wheel encoders (Arduino Uno)
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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
Michael Ferguson
e3b7d2498c
merge
2013-11-24 12:48:45 -08:00
Kristof Robot
7887d639f3
Bugfix - removed reset wind-up fix
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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,
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to ensure that PID gets reset when encoders get reset.
2013-08-16 15:04:33 +02:00
Kristof
dad031ee2c
Enhanced PID algorithm
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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
Michael Ferguson
12a7ca4dbb
catkinize
2013-02-02 12:43:37 -08:00
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
Patrick Goebel
177171332a
Servo positions are now specified in radians instead of degrees
2012-12-24 07:48:34 -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
aadcd53f50
Added more comments to MegaRobogaiaPololu sketch
2012-12-16 18:53:49 -08:00
Patrick Goebel
3b2742b444
Added some comments to MegaRobogaiaPololu sketch
2012-12-15 11:00:40 -08:00
Patrick Goebel
70a0d712c5
First commit
2012-12-15 07:36:59 -08:00
