1. 05 Sep, 2021 1 commit
  2. 26 Aug, 2021 1 commit
  3. 25 Aug, 2021 1 commit
  4. 23 Aug, 2021 1 commit
    • Jacob Odgaard Hausted's avatar
      PI regulator partly working: · 3eb4db60
      Jacob Odgaard Hausted authored
       - Fix error where ki_ in the regulator is set to zero (expected due to implicit integer conversion from float)
       - Decide upon speed input for regulator (m/s vs RPM)
       - Capture test data and compare with digital simulation
      3eb4db60
  5. 12 Aug, 2021 2 commits
    • Jacob Odgaard Hausted's avatar
      Fixed PWM frequency. Was set to 200 Hz, much lower than the bandwidth of the... · 2d60720f
      Jacob Odgaard Hausted authored
      Fixed PWM frequency. Was set to 200 Hz, much lower than the bandwidth of the motors, and as such, should be seen as voltage pulses and not an average voltage across the motors.
      
      Changed the frequency to 20k matching the max PWM frequency of the VNH5019 motor driver.
      2d60720f
    • Jacob Odgaard Hausted's avatar
      Open loop response: · f6f643b8
      Jacob Odgaard Hausted authored
         - Subscrubtion to ackermann message mov_cmd, speed is assumed to PWM dutycycle
         - publishing rear_wheel_state as a point, this included x and y as direct encoder readings. z is the estimated speed.
      
      Restructured the code a bit, giving each periph type a seperate .h/.c file.
      
      Motors seem to have difficulity spinning as fast as stated in their documentation under no-load, investigating.
      f6f643b8
  6. 05 Aug, 2021 2 commits
  7. 26 Jul, 2021 1 commit
  8. 19 Jul, 2021 1 commit
  9. 15 Jul, 2021 5 commits
  10. 08 Jul, 2021 1 commit
    • Jacob Odgaard Hausted's avatar
      Added initial structure for shared resources across tasks in FreeRTOS. This is... · 74997f97
      Jacob Odgaard Hausted authored
      Added initial structure for shared resources across tasks in FreeRTOS. This is intended to be made as a singleton forcing the use of the desired non-block synchronisation mechanism. Reading up on the ARM architecture reference manual, 4 byte aligned words are atomic in their nature - the class will utilize this to ensure thread safety - for a single core system
      74997f97
  11. 02 Jul, 2021 1 commit
  12. 30 Jun, 2021 2 commits
  13. 29 Jun, 2021 1 commit
  14. 24 Jun, 2021 6 commits
  15. 22 Jun, 2021 2 commits
  16. 21 Jun, 2021 12 commits