Debug millis #43
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Debug millis #43
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Further refine high-level controller and make clearer the separation between high- and mid-level control loops Signed-off-by: Rosen, Michael R <[email protected]>
not tested in HW yet
Signed-off-by: Rosen, Michael R <[email protected]>
Currently the serial control sends the IE as an enumeration when it should be a fixed point number; for now fix the value to 1:1.5 Signed-off-by: Rosen, Michael R <[email protected]>
. Fix minor issues in stop mid control loop . Refactor timers to be periodic to improve precision of timing loops Signed-off-by: Rosen, Michael R <[email protected]>
Using Jan's work as a base, refactor sensor hal to sample ADC without timer. Refactor alot of the sensor module to incorporate the refactored sensors hal and timer hal. Signed-off-by: Rosen, Michael R <[email protected]>
Signed-off-by: Rosen, Michael R <[email protected]>
In order to take advantage of the Arduino Serial Plotter, debug messages mechanism had to be slightly retuned and now the debug feature includes a way to plot values with some limitations. Signed-off-by: Rosen, Michael R <[email protected]>
added scaling factor to trajectory and motor output according to Andrews measurements. reset I-integrator for every cycle
Dirty fix to motor target position initial controller tuning - works, but looses steps and can't compensate (yet)
. Add macro to enable/disable closed loop control while under development . Fix typo in timeout check for exhalation Signed-off-by: Rosen, Michael R <[email protected]>
When using DEBUG_PLOT, prefix each line with a millisecond stamp (since boot). Signed-off-by: Inaky Perez-Gonzalez <[email protected]>
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I think we need to make this optional if we still want to support the Arduino plotter; since the Arduino plotter will plot millis as a line that will eventually auto-scale the values being examines into nothing. It might be good to add a DEBUG_PLOTTER macro to specify which plotter is being used (Arduino or kst2). I think the documentation for this should go in the debug.h file for now since we dont yet have a good place for these kinds of code-related docs. |
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DEBUG_PLOT: add millisecond stamping
When using DEBUG_PLOT, prefix each line with a millisecond stamp
(since boot).
Signed-off-by: Inaky Perez-Gonzalez [email protected]