Regbot firmware - Revision history

Jca: /* Mission start */

2025-03-12T12:36:26Z

Mission start

← Older revision		Revision as of 14:36, 12 March 2025
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	=== Mission start ===		=== Mission start ===

	Missions start is handled by the ''tick()'' function in the ''~~ccontrol~~'' module.		Missions start is handled by the ''tick()'' function in the ''ucontrol'' module.
	It also handled hard-coded missions and remote control, but the important function is:		It also handled hard-coded missions and remote control, but the important function is:
	* the call to '''used_mission()'''		* the call to '''used_mission()'''

2025-03-12T12:16:56Z

Module list

← Older revision		Revision as of 14:16, 12 March 2025
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	** usubs (Subscription item class.)		** usubs (Subscription item class.)
	** usubss (Subscription support class for all modules.)		** usubss (Subscription support class for all modules.)
	* uusbhost (Support for ~~Logitech~~ gamepad control of the robot using the USB-host connector (if connected).)		* uusbhost (Support for gamepad control of the robot using the USB-host connector (if connected).)

	Pin definitions are (mostly) in the ''main.h'' file.		Pin definitions are (mostly) in the ''main.h'' file.

2025-03-11T14:18:22Z

PID controller configuration

← Older revision		Revision as of 16:18, 11 March 2025
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	All PID parameters are saved in configuration flash memory and are best set using the GUI.		All PID parameters are saved in configuration flash memory and are best set using the GUI.

	Look in ''ucontrolbase.cpp'' ~~about~~ line 410 to see how the control parameters are decoded from a USB message.		Look in ''ucontrolbase.cpp'' line 410 to see how the control parameters are decoded from a USB message.
	The format is the same for all PID controllers, and here exemplified for the balance controller:		The format is the same for all PID controllers, and here exemplified for the balance controller:
	// cbal 1 -3 0 1 9999.99 1 0 1 1 1 0.029 0.001 0 1 1 1 0.1 5 1 0 1 0 1 1 1 99.99		// cbal 1 -3 0 1 9999.99 1 0 1 1 1 0.029 0.001 0 1 1 1 0.1 5 1 0 1 0 1 1 1 99.99

2025-03-11T14:17:31Z

PID controller in and out

← Older revision		Revision as of 16:17, 11 March 2025
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	These connections should not be changed, but show how they are interconnected.		These connections should not be changed, but show how they are interconnected.

	The ''setRegulatorInOut()'' function looks like this (''ucontrol.cpp'' line ~~about~~ 525):		The ''setRegulatorInOut()'' function looks like this (''ucontrol.cpp'' around line 525):
	void UControl::setRegulatorInOut()		void UControl::setRegulatorInOut()
	{ // set initial input and output for regulators		{ // set initial input and output for regulators

2025-03-11T14:16:39Z

PID controller configuration

← Older revision		Revision as of 16:16, 11 March 2025
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	[[File:Gui_control_data_points.png \| 800px]]		[[File:Gui_control_data_points.png \| 800px]]

	For the balance controller ''td'' is used as the derivative gain and the y-axis gyro is used as 'm-dot' input.		For the balance controller ''td'' is used as the derivative gain and the y-axis gyro is used as 'm-dot' input. For all other controllers, the 'm-dot' input is not used.

	=== PID controller in and out ===		=== PID controller in and out ===

2025-03-11T14:15:31Z

PID controller configuration

← Older revision		Revision as of 16:15, 11 March 2025
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	[[File:Gui_control_data_points.png \| 800px]]		[[File:Gui_control_data_points.png \| 800px]]

			For the balance controller ''td'' is used as the derivative gain and the y-axis gyro is used as 'm-dot' input.

	=== PID controller in and out ===		=== PID controller in and out ===

2025-03-11T14:11:16Z

PID controller configuration

← Older revision		Revision as of 16:11, 11 March 2025
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	// 22 0 1 1 // feed forward pole-zero (use zero pole)		// 22 0 1 1 // feed forward pole-zero (use zero pole)
	// 25 1 99.99 // output limit (use, limit)		// 25 1 99.99 // output limit (use, limit)

			[[File:Gui_control_data_points.png \| 800px]]

	=== PID controller in and out ===		=== PID controller in and out ===

2025-03-11T13:59:40Z

PID controller configuration

← Older revision		Revision as of 15:59, 11 March 2025
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	All PID parameters are saved in configuration flash memory and are best set using the GUI.		All PID parameters are saved in configuration flash memory and are best set using the GUI.

			Look in ''ucontrolbase.cpp'' about line 410 to see how the control parameters are decoded from a USB message.
			The format is the same for all PID controllers, and here exemplified for the balance controller:
			// cbal 1 -3 0 1 9999.99 1 0 1 1 1 0.029 0.001 0 1 1 1 0.1 5 1 0 1 0 1 1 1 99.99
			// 1 cbal 1 // use (any part of controller)
			// 2 -3 // Kp
			// 3 0 1 9999.99 1 // integrator (use, tau, limit, (and_zero - not implemented in this case))
			// 7 0 1 1 // lead forward (use, zero, pole)
			// 10 1 0.029 0.001 // lead backward (use, zero, pole)
			// 13 0 1 1 // pre-filt (use, zero, pole)
			// 16 1 0.1 5 1 // post integrator (use, tau, limit, and_zero)
			// 20 0 1 // feed forward (use, Kff)
			// 22 0 1 1 // feed forward pole-zero (use zero pole)
			// 25 1 99.99 // output limit (use, limit)

	=== PID controller in and out ===		=== PID controller in and out ===

2025-03-11T13:46:18Z

Control without mission

← Older revision		Revision as of 15:46, 11 March 2025
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	To use distance control, the reference position must be set in ''control.misStartDist'' and the measured position is in ''encoder.distance''.		To use distance control, the reference position must be set in ''control.misStartDist'' and the measured position is in ''encoder.distance''.

			In this case, the ''control.mission_vel_ref'' is used as the maximum allowed velocity.

	===Turning===		===Turning===

2025-03-11T13:44:21Z

Desired velocity

← Older revision		Revision as of 15:44, 11 March 2025
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	===Desired velocity===		===Desired velocity===

	Setting the variable ''control.mission_vel_ref'' (m/sec) will set the forward velocity ~~(when control is active and not controlled by other sensors (like the distance sensor)~~.		Setting the variable ''control.mission_vel_ref'' (m/sec) will set the forward velocity.

	The ''control.balance_active'' determines who sets the desired wheel velocity. If true, then the source is the balance controller.		The ''control.balance_active'' determines who sets the desired wheel velocity. If true, then the source is the balance controller.
	The ''control.mission_vel_ref'' is a reference for the in-balance velocity controller.		The ''control.mission_vel_ref'' is then the reference for the in-balance velocity controller.

	=== Desired position ===		=== Desired position ===