Fejemis bridge - Revision history

S253745 at 12:32, 27 May 2026

2026-05-27T12:32:37Z

2026-05-27T12:31:49Z

2026-05-27T12:31:23Z

2023-10-21T13:57:09Z

Bridge initialization file

← Older revision		Revision as of 15:57, 21 October 2023
Line 59:		Line 59:
	front led 5 200 0 0		front led 5 200 0 0
	front led 6 200 0 0		front led 6 200 0 0
			; steering control settings
	; cssteer 1 Kp I_use I_tau I_lim 1 Df_use tz tp Db_use tz tp ...		; cssteer 1 Kp I_use I_tau I_lim 1 Df_use tz tp Db_use tz tp ...
	; pre_use tz tp lim_use max min ff_use Kff fff_use tz tp angAdj		; pre_use tz tp lim_use max min ff_use Kff fff_use tz tp angAdj
	; Kp ---I------- fwd-~~lead~~- bk-~~lead~~- pre-f out-limit--- --ff+filt- fold		; Kp ---I------- fwd-filter- bk-filt- pre-f out-limit--- --ff+filt- fold
	;front cssteer 1 10 0 ~~2 300~~ 1 1 0.5 0.05 1 0 0.02 0 1 1 0 -1000 1000 0 1 0 1 1 1		front cssteer 1 5 0 1 100 1 1 0.5 0.05 1 0 0.02 0 1 1 0 -1000 1000 0 1 0 1 1 1
	front sub id 2000		front sub id 2000
	front sub ver 2001		front sub ver 2001
	front sub hbt 601		front sub hbt 601
	; max values for RC control		; max values for RC control
	; velocity (m/sec), ~~turnrate~~ deg/sec and slow factor (0.2'ish)		; velocity (m/sec), turn rate deg/sec, and slow factor (0.2'ish)
	gamepad rcmax 2.0 45 0.2		gamepad rcmax 2.0 45 0.2
	;drive:pose logopen		;drive:pose logopen

2023-10-21T13:54:30Z

Bridge initialization file

← Older revision		Revision as of 15:54, 21 October 2023
Line 59:		Line 59:
	front led 5 200 0 0		front led 5 200 0 0
	front led 6 200 0 0		front led 6 200 0 0
			; cssteer 1 Kp I_use I_tau I_lim 1 Df_use tz tp Db_use tz tp ...
			; pre_use tz tp lim_use max min ff_use Kff fff_use tz tp angAdj
			; Kp ---I------- fwd-lead- bk-lead- pre-f out-limit--- --ff+filt- fold
			;front cssteer 1 10 0 2 300 1 1 0.5 0.05 1 0 0.02 0 1 1 0 -1000 1000 0 1 0 1 1 1
	front sub id 2000		front sub id 2000
	front sub ver 2001		front sub ver 2001
Line 64:		Line 68:
	; max values for RC control		; max values for RC control
	; velocity (m/sec), turnrate deg/sec and slow factor (0.2'ish)		; velocity (m/sec), turnrate deg/sec and slow factor (0.2'ish)
	~~joy~~ rcmax 2.0 45 0.2		gamepad rcmax 2.0 45 0.2
	;drive:pose logopen		;drive:pose logopen
	;drive:gyro logopen		;drive:gyro logopen

2023-10-21T13:52:21Z

Teensy interface

← Older revision		Revision as of 15:52, 21 October 2023
Line 121:		Line 121:

	* meta Get the metadata related to the interface, a text message.		* meta Get the metadata related to the interface, a text message.
	* logopen Create logfile with all updates through this data source.		* logopen Create logfile with all updates through this data source (one for tx and one for rx).
	* logclose Close the ~~logfile~~.		* logclose Close the logfiles.
	* help This list		* help This list

2023-10-21T13:51:31Z

Ini-file handler

← Older revision		Revision as of 15:51, 21 October 2023
Line 107:		Line 107:
	* load <filename> Load a specific initialization file (bridge.ini is always loaded at the start of the bridge).		* load <filename> Load a specific initialization file (bridge.ini is always loaded at the start of the bridge).
	* reload <interface name> Reloads the system initialization file (bridge.ini) for this interface.		* reload <interface name> Reloads the system initialization file (bridge.ini) for this interface.
	* ~~openlog~~ Creates a log for use of ini-file.		* logopen Creates a log for use of ini-file.
	* ~~closelog~~ Closes log for ini-use.		* logclose Closes log for ini-use.
	* help This list		* help This list

2023-10-21T13:50:44Z

Ini-file handler

← Older revision		Revision as of 15:50, 21 October 2023
Line 107:		Line 107:
	* load <filename> Load a specific initialization file (bridge.ini is always loaded at the start of the bridge).		* load <filename> Load a specific initialization file (bridge.ini is always loaded at the start of the bridge).
	* reload <interface name> Reloads the system initialization file (bridge.ini) for this interface.		* reload <interface name> Reloads the system initialization file (bridge.ini) for this interface.
			* openlog Creates a log for use of ini-file.
			* closelog Closes log for ini-use.
	* help This list		* help This list

2023-10-17T17:33:22Z

Teensy interface

← Older revision		Revision as of 19:33, 17 October 2023
Line 110:		Line 110:

	==== Teensy interface ====		==== Teensy interface ====

			There are two Teensy interfaces 'drive' and 'front'

	e.g.:		e.g.:
Line 120:		Line 122:
	* logclose Close the logfile.		* logclose Close the logfile.
	* help This list		* help This list

			The Teensys has data items and commands as described here: ????

	==== Bridge ====		==== Bridge ====

2023-10-17T17:30:31Z

Bridge initialization file

← Older revision		Revision as of 19:30, 17 October 2023
Line 62:		Line 62:
	front sub ver 2001		front sub ver 2001
	front sub hbt 601		front sub hbt 601
	~~; debug with regbot~~
	~~regbot sub pose 40~~
	~~regbot sub ver 2000~~
	~~regbot sub hbt 620~~
	; max values for RC control		; max values for RC control
	; velocity (m/sec), turnrate deg/sec and slow factor (0.2'ish)		; velocity (m/sec), turnrate deg/sec and slow factor (0.2'ish)
Line 91:		Line 87:
	; if source is fejemis		; if source is fejemis
	;drive:pose subscribe -1 ros		;drive:pose subscribe -1 ros

			Lines starting with ';' is a comment

	==Management commands==		==Management commands==