Michael Hope
e9322bdbbe
Bound in the rate of turn controller.
2014-02-22 19:20:29 +01:00
Michael Hope
22bb0ba309
Bound in the IMU to the rover.
2014-02-22 19:20:00 +01:00
Michael Hope
8a5089b262
Added a utility to bump and restore control variables.
2014-02-22 19:18:33 +01:00
Michael Hope
6b79ef6b1e
Pull the logs out of the rover while pushing.
2014-02-22 19:16:03 +01:00
Michael Hope
3cab0d0e71
Change stub ports so they try to open, but stub out on failure. Allows some ports to be used.
2014-02-21 22:47:52 +01:00
Michael Hope
c8e216bd08
Switch to the GPS tick using status so other things like the switch position can be checked.
2014-02-16 17:04:53 +01:00
Michael Hope
9d96112bd4
Switch the heading controller to derrive off the GPS tick.
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Add in differential control.
2014-02-16 17:04:11 +01:00
Michael Hope
2fec29e7ac
Add the differential term to the PID controller.
2014-02-16 17:01:24 +01:00
Michael Hope
631fff6621
Ping the controller with new GPS readings when they arrive.
2014-02-16 17:00:21 +01:00
Michael Hope
7f49aa400f
Switch to a dynamic libgo.
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Use rsync to push the binary faster.
2014-02-16 16:59:02 +01:00
Michael Hope
ed3858a54a
Updated the config to the latest test results.
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Configure glog at startup.
2014-02-16 16:58:14 +01:00
Michael Hope
44c3873135
Changed the end of stream test so the stub ports work again.
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Minor tidy up to the tests so they build.
2014-02-09 20:35:51 +01:00
Michael Hope
dbb2fddbb4
Switched to the new config parser.
2014-02-09 20:34:58 +01:00
Michael Hope
daf18a13da
Created a simple command line to struct parser.
2014-02-09 20:16:20 +01:00
Michael Hope
ed899fe947
Add logging to all of the inputs and outputs.
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Changed to a struct style for all logging. Gives easier post processing.
Changed the heading controller to dump state all the time for checking.
Added watchdogs to everything.
2014-02-02 15:13:39 +01:00
Michael Hope
2a18ac1655
Bump the serial rate to 57600 baud.
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Update the default settings of all the things.
2014-02-02 15:13:08 +01:00
Michael Hope
da89290188
Fixed the decoding of pongs.
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Switched the error handling to match link (fatal on error).
2014-02-02 15:12:03 +01:00
Michael Hope
231d1bae7a
Pull the GPS stats out into a class for easy dumping.
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Log a fatal error if the serial read fails.
2014-02-02 15:09:46 +01:00
Michael Hope
39f87bc63d
Switch to using gccgo to see if that solves the runtime lockup.
2014-02-02 15:06:53 +01:00
Michael Hope
dc7be912cb
Add GPS and Event hooks into all controllers.
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Fix a bug in converting 0-360 headings into -Pi to Pi radians.
Bind in the rest of the waypoint controller.
2014-01-26 16:06:52 +01:00
Michael Hope
a9ac957323
Switched to go-flags.
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Create a PID for each controller dimension.
Support the waypoint controller.
2014-01-26 16:05:12 +01:00
Michael Hope
c1af8d554f
Added in go-flags.
2014-01-26 16:04:38 +01:00
Michael Hope
d21216390b
Added the position/waypoint controller.
2014-01-23 21:44:25 +01:00
Michael Hope
575f428586
Added the position recorder state machine.
2014-01-21 22:09:21 +01:00
Michael Hope
5d2f714c8d
Add hooks for the heading controller.
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Pull umin out into a parameter.
Bind in the switch thread.
2014-01-21 22:07:28 +01:00
Michael Hope
430221bf86
Also pull in golang/glog.
2014-01-21 22:07:04 +01:00
Michael Hope
abcd0a2b88
Switch the PID controller to error based to push the heading wrap
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around up into the heading controller.
Let the deadband apply in positive and negative directions.
Apply the drive limit after all calculations.
2014-01-21 22:04:44 +01:00
Michael Hope
1d731aacaa
Change the heading controller to allow jogging by 90 degrees or 180
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degrees based on the steering input. Should allow doing squares as a
test.
2014-01-21 22:03:32 +01:00
Michael Hope
f80ee7387f
Add a button press/hold handler.
2014-01-21 22:01:53 +01:00
Michael Hope
35ea1cd73e
Switch to glog to allow verbosity levels.
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Add button bindings and handling.
Add a slow heartbeat to show in the log.
2014-01-21 22:00:59 +01:00
Michael Hope
ae71751509
Pulled the other PID parameters out so they can be used in heading
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mode.
Added a heading controller.
Changed the PID controller to work on error so the heading controller
can handle the wrap around.
Support deadbands in both directions.
2014-01-19 11:28:33 -08:00
Michael Hope
c4ccc24c4e
Updated the default gains based on the good speed run.
2014-01-19 11:07:24 -08:00
Michael Hope
da2790c647
Add a system identification controller that sets the speed based on
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the dial.
Pull the PID parameters out into command line flags.
Change the speed setpoint to 17.5 km/h as 10 is too slow to control.
2014-01-19 10:18:44 -08:00
Michael Hope
118373e53f
Made link a bit more gothonic.
2014-01-14 21:17:34 +01:00
Michael Hope
afa24fb872
Added mathex and testex packages.
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Added a test target.
Switched the PID and anything else possible float32.
Changed TiLimit to be the total contribution.
Added a deadband.
2014-01-14 20:56:42 +01:00
Michael Hope
dce5d5632b
Re-worked the messages to match the interface board.
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Turned the logging back on.
2014-01-14 19:59:29 +01:00
Michael Hope
48544126cf
Related tidy up to the top level bindings.
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Added a 'push' target to the Makefile for copying the binary.
2014-01-12 15:58:57 +01:00
Michael Hope
6e461a552e
Renamed supervisor to driver.
2014-01-12 15:58:10 +01:00
Michael Hope
9c97294431
Implemented the speed controller.
2014-01-12 15:57:55 +01:00
Michael Hope
e1289d4655
Renamed supervisor to driver.
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Split the GPS and Input status into their own structs.
Added demand output.
2014-01-12 15:57:34 +01:00
Michael Hope
c05bcd5556
Pull the statistics out into a separate stuct so they'll work via
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expvar.
Make link own the port so the caller doesn't need the port when
calling Write().
Switch back to reading up to 128 bytes at a time. The previous one
was due to the port waiting for all 128 bytes.
2014-01-12 15:55:22 +01:00
Michael Hope
1b68507f13
Hooked in a basic PID controller.
2014-01-11 19:12:06 +01:00
Michael Hope
ef7b65b0cd
Started recording the incoming data.
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Convert all GPS data to basic units.
2014-01-11 19:11:22 +01:00
Michael Hope
014a5bf85c
gofmt and de-logging.
2014-01-11 19:09:28 +01:00
Michael Hope
2203989c64
Ran gofmt and de-logged link.
2014-01-11 19:08:52 +01:00
Michael Hope
fc6de03937
Added routines to convert latitude and longitude to UTM eastings and
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northings.
2014-01-11 19:03:56 +01:00
Michael Hope
7c8a54c018
Added a PID controller. Still missing the D...
2014-01-11 19:02:06 +01:00
Michael Hope
3149d8fb9e
Add routines that calculate the width in metres of a degree of
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latitude or longitude.
2014-01-11 19:00:45 +01:00
Michael Hope
247eac6bad
Started the supervisor.
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Switched the Link and GPS to send messages via channels.
2014-01-05 21:21:44 +01:00
Michael Hope
eef6a6e072
Started the rover side code.
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Pulled in the Link and GPS experiments.
Added build rules.
Added expvar to export statistics.
2014-01-05 19:29:21 +01:00