1. 18 Jan, 2022 3 commits
  2. 13 Jan, 2022 2 commits
  3. 12 Jan, 2022 2 commits
  4. 10 Jan, 2022 3 commits
    • Jacob Odgaard Hausted's avatar
      Belonging to previous push. · 5294835a
      Jacob Odgaard Hausted authored
      5294835a
    • Jacob Odgaard Hausted's avatar
      Continued Refactor: · a79fa505
      Jacob Odgaard Hausted authored
       - Changed MotorControl Task Scheduling though relative sleep calls to wakeup calls from an external timer (Tim7). As should have been done from the beginning.
      a79fa505
    • Jacob Odgaard Hausted's avatar
      Initial Refactoring of Code. Focus on increasing readability and structuring: · c9c24063
      Jacob Odgaard Hausted authored
      - Focus on seperation of auto generated and written code through subfolders
      - Renaming of classes
         - MotorDriver -> VNH5019 (Specific motor shield driver)
      - Started to move global semantic enums out of nested class namespaces as to streamline their use (e.g, Units of speed, units of length, right/left rear wheel and so on)
      
      Based on initial misunderstanding of FreeRTOS preemptiveness, a rather unrealiable and complex data syncronisation mechanism was employed, which responsibility to uphold was placed solely on developers. This push implementes FreeRTOS mutexes in the wrapper AccessGuard class, which acts as a wrapper for data to be guarded by mutual exclusion between tasks.
      c9c24063
  5. 05 Sep, 2021 1 commit
  6. 26 Aug, 2021 1 commit
  7. 25 Aug, 2021 1 commit
  8. 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
  9. 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
  10. 05 Aug, 2021 2 commits
  11. 26 Jul, 2021 1 commit
  12. 19 Jul, 2021 1 commit
  13. 15 Jul, 2021 5 commits
  14. 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
  15. 02 Jul, 2021 1 commit
  16. 30 Jun, 2021 2 commits
  17. 29 Jun, 2021 1 commit
  18. 24 Jun, 2021 6 commits
  19. 22 Jun, 2021 2 commits
  20. 21 Jun, 2021 2 commits