Basebot modules - Revision history

Jca: /* Support modules */

2024-11-28T12:54:13Z

Support modules

← Older revision		Revision as of 14:54, 28 November 2024
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	When the motor runs slow, all estimates calculated from encoder values suffer some delay.		When the motor runs slow, all estimates calculated from encoder values suffer some delay.
	For controller design, a transport delay of 10ms is usually sufficient. In Matlab, delay can be added to a transfer function as inputDelay or outputDelay.		For controller design, a transport delay of 10ms is usually sufficient. In Matlab, delay can be added to a transfer function as inputDelay or outputDelay.

			More info can be found here [[Regbot encoder analysis]].

	Encoder values are available as		Encoder values are available as

Jca: /* Support modules */

2024-11-28T12:53:11Z

Support modules

← Older revision		Revision as of 14:53, 28 November 2024
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	The encoder uses an interrupt for every value edge. The velocity is estimated based on the timing difference from the last edge before this sample period to the newest edge. The squarewave from the A and B sensors is not entirely symmetric, and the distance between sensors A and B doesn't match half a magnet size. Therefore, the velocity is calculated separately for sensors A and B and the positive and negative transitions. These four velocities are then combined into a single motor velocity.		The encoder uses an interrupt for every value edge. The velocity is estimated based on the timing difference from the last edge before this sample period to the newest edge. The squarewave from the A and B sensors is not entirely symmetric, and the distance between sensors A and B doesn't match half a magnet size. Therefore, the velocity is calculated separately for sensors A and B and the positive and negative transitions. These four velocities are then combined into a single motor velocity.

			When the motor runs slow, all estimates calculated from encoder values suffer some delay.
			For controller design, a transport delay of 10ms is usually sufficient. In Matlab, delay can be added to a transfer function as inputDelay or outputDelay.

	Encoder values are available as		Encoder values are available as
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	[[file:wiki-bb-power.png \| 400px]]		[[file:wiki-bb-power.png \| 400px]]

	The power is turned off when the ~~battery~~ voltage drops below 10 Volts (assuming a three-cell Lipo battery).		The power is turned off when the voltage drops below 10 Volts (assuming a three-cell Lipo battery).

	To turn the power back on, press the power button. ~~The~~ power will stay on regardless of the battery voltage ~~as long as the button is pressed~~.		To turn the power back on, press the power button. As long as the button is pressed, the power will stay on regardless of the battery voltage.

	The P-MOS acts as the power switch and supplies battery voltage to the motor controllers and the 5V buck converter. The voltage is measured using pin A17.		The P-MOS acts as the power switch and supplies battery voltage to the motor controllers and the 5V buck converter. The voltage is measured using pin A17.

	When the USB is connected and the power is off, the USB 5V will power the robot. Even the motors can run (slowly) on USB power.		When the USB is connected and the power is off, the USB 5V will power the robot. Even the motors can run (slowly) on USB power.

			See [[Regbot encoder analysis]] for some measurements.

	The start button is available on pin 37. Value is high when the button is pressed.		The start button is available on pin 37. Value is high when the button is pressed.

Jca at 13:31, 17 October 2024

2024-10-17T13:31:16Z

← Older revision		Revision as of 15:31, 17 October 2024
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	[[file:wiki-bb-motor.png \| 400px]]		[[file:wiki-bb-motor.png \| 400px]]

			The Regbot/Basebot motor is of the type JGA25-370.

	The motor action is implemented in ''src/umotor.cpp'' in function ''motorSetAnchorVoltage()''.		The motor action is implemented in ''src/umotor.cpp'' in function ''motorSetAnchorVoltage()''.

Jca: /* Support modules */

2024-09-09T09:59:03Z

Support modules

← Older revision		Revision as of 11:59, 9 September 2024
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	The motor current uses a HAL sensor ACS714; the zero is about 3.3V/2. Other nearby components may influence the values and should be used with caution.		The motor current uses a HAL sensor ACS714; the zero is about 3.3V/2. Other nearby components may influence the values and should be used with caution.

	The encoder uses an interrupt for every value edge. The velocity is estimated based on the timing difference from the last edge before this sample period to the newest edge.		The encoder uses an interrupt for every value edge. The velocity is estimated based on the timing difference from the last edge before this sample period to the newest edge. The squarewave from the A and B sensors is not entirely symmetric, and the distance between sensors A and B doesn't match half a magnet size. Therefore, the velocity is calculated separately for sensors A and B and the positive and negative transitions. These four velocities are then combined into a single motor velocity.

	Encoder values are available as		Encoder values are available as

Jca: /* Module description */

2024-09-04T12:04:33Z

Module description

← Older revision		Revision as of 14:04, 4 September 2024
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	Back to [[Basebot]]		Back to [[Basebot]]

	== ~~Module description~~ ==		== Main code ==

	The [[Basebot main code]], in basebot_6.ino, is described here.		The [[Basebot main code]], in basebot_6.ino, is described here.
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	Several support modules are coded in C++ and included (#include "u...") in the main code; some of these are described below.		Several support modules are coded in C++ and included (#include "u...") in the main code; some of these are described below.

	=== Support modules ===		== Support modules ==

	==== Motor ====		==== Motor ====

Jca: /* Module description */

2024-09-04T12:03:58Z

Module description

← Older revision		Revision as of 14:03, 4 September 2024
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	== Module description ==		== Module description ==

	The [[Basebot main code]], in basebot_6.ino is described here.		The [[Basebot main code]], in basebot_6.ino, is described here.

			The microprocessor only has one kernel; thus, nothing happens in parallel (except for interrupts).
			The main loop, therefore, calls all needed functions one at a time in each sample period.
			Any spare time (waiting for the next sample time) is used to listen to the USB connection.

			Several support modules are coded in C++ and included (#include "u...") in the main code; some of these are described below.

	=== Support modules ===		=== Support modules ===

Jca at 10:58, 4 September 2024

2024-09-04T10:58:09Z

← Older revision		Revision as of 12:58, 4 September 2024
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	== Module description ==		== Module description ==

	[[Basebot main code]]		The [[Basebot main code]], in basebot_6.ino is described here.

Jca at 10:15, 4 September 2024

2024-09-04T10:15:02Z

@@ Line 3: / Line 3: @@
 == Module description ==
-=== Main code ===
+[[Basebot main code]]
 === Support modules ===

Jca: /* Main code */

2024-09-04T10:14:05Z

Main code

← Older revision		Revision as of 12:14, 4 September 2024
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	The code is based on the Arduino environment.		The code is based on the Arduino environment.
	Here the normal C-main function is hidden. But ''setup()'' is called first, followed by an endless loop that ~~called~~ ''loop()''.		Here the normal C-main function is hidden. But ''setup()'' is called first, followed by an endless loop that calles ''loop()''.

	===== Setup =====		===== Setup =====
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	}		}
	}		}

			The loop (''while (true)'') runs as fast as it can, and if it is not time for a new sample, then the USB connection is serviced (''usb.tick()'').

			When the sample time has passed, the next sample time is set up. Both use the standard Arduino call ''micros()'', which returns the number of microseconds since boot.

			At every sample, the sensors are handled first (''imu.tick()'' and ''encoder.tick()''); these will get new data from the sensor, and the encoder will estimate the motor velocity.

			Next is ''testSequenct()'', which is intended as a state machine that changes what the robot should do, as described below.
			The default is to wait for the start button to be pressed.

			All data for the control effort is now available (''controlUpdate()''). The default controller uses the desired velocity as motor voltage, ignoring the estimated velocity. This is a feed-forward-only controller.

			The control effort sets the motor voltages and the ''motor.tick()'' implements this as a PWM to the motor driver.

			At the end, other service functions are called (''robot.tick()'' and ''display.tick()'') that (mostly) checks the battery voltage and updates the display.

	=== Support modules ===		=== Support modules ===

Jca: /* Power and start button */

2024-09-04T09:55:14Z

Power and start button

← Older revision		Revision as of 11:55, 4 September 2024
Line 121:		Line 121:
	To turn the power back on, press the power button. The power will stay on regardless of the battery voltage as long as the button is pressed.		To turn the power back on, press the power button. The power will stay on regardless of the battery voltage as long as the button is pressed.

	The P-MOS ~~act~~ as the power switch and supplies battery voltage to the motor controllers, the 5V buck converter~~, and the~~ voltage is measured using pin ~~A37~~.		The P-MOS acts as the power switch and supplies battery voltage to the motor controllers and the 5V buck converter. The voltage is measured using pin A17.

	When the USB is connected and the power is off, the USB 5V will power the robot. Even the motors can run (slowly) on USB power.		When the USB is connected and the power is off, the USB 5V will power the robot. Even the motors can run (slowly) on USB power.

	The start button is available on pin 37. Value is high, when button is pressed.		The start button is available on pin 37. Value is high when the button is pressed.