Skip to content

Debug millis #43

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
inakypg wants to merge 15 commits into
base: develop
Choose a base branch
from
Open

Debug millis #43

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
15 commits
Select commit Hold shift + click to select a range
20ec6ec
control: flesh out control fsm
Apr 7, 2020
9063127
Refactored motor driver for glitch-free PWM output.
JonnerLynx Apr 22, 2020
9a3cc08
Updated motor driver with speed control. Moved motor state control ou…
JonnerLynx Apr 23, 2020
73bd4f8
Add open-loop trajectory tracking control.
arbarkan Apr 24, 2020
e91d7f5
First implementation of closed loop PID control
jast1982 Apr 24, 2020
65ede1f
control: use metrics to time control loop
Apr 29, 2020
544e142
control: temporarilly fix requested IE ratio
Apr 29, 2020
014c21e
control: fix a number of issues from Jan
Apr 29, 2020
a140852
sensors: refactor sensors hal and module significantly
Apr 30, 2020
8ae2b0d
sensors: add safety yields to sensor threads
Apr 30, 2020
0de6888
debug: add debug plotter mechanism
Apr 30, 2020
006ba26
add initial controller scaling
jast1982 Apr 30, 2020
c936914
First controller tuning...
jast1982 May 1, 2020
93f9c30
control: minor fixes to control module
May 1, 2020
702df52
DEBUG_PLOT: add millisecond stamping
inaky-intc May 2, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 23 additions & 0 deletions CONTRIBUTING
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,3 +26,26 @@ Bug fixes
- Urgent bug fixes may be done from ‘master’ while development has continued on ‘develop’
- In this case, check out a bug fix branch from ‘master’
- Merge the fix back into ‘master’ AND ‘develop’


Plotting

- if you #define src/util/debug.h:DEBUG_PLOTTING to "control"
(real) or "sensors" (simulated values), the controller will print
sampled data to the debug port in the following format::

ms,FIELDA,FIELDB,...\r
MS1,VALA1,VALB1,...\r
MS2,VALA2,VALB2,...\r
MS3,VALA3,VALB3,...\r

Where the first line are the header names with ms being timestamps
in milliseconds.

This can be visualized with the arduino plotter or with tools such
as kst2 (eg: in Linux -- note you might have to edit the beggining
of the file to remove any leftover output before flashing until the
headers so kst2 can parse it correctly)::

$ cat /dev/ttyACM0 > file.txt
$ kst2 file.txt
Loading