Read sensors in the systick #263
Conversation
Peque
force-pushed
the
sensors
branch
2 times, most recently
from
30c5d97 to
111f8b8
Compare
src/calibration.c
Outdated
|
|
||
| disable_walls_control(); | ||
| side_sensors_calibration(); |
There was a problem hiding this comment.
why are you using side_sensors_calibration?
src/calibration.c
Outdated
| sleep_us(1000); | ||
| } | ||
| required_deceleration = | ||
| (.3 * .3) / |
There was a problem hiding this comment.
Macro for set_target_linear_speed and these .3* .3.
There was a problem hiding this comment.
Created a variable to store that value (58693b9).
src/target/detection.c
Outdated
| } | ||
| } | ||
|
|
||
| /** | ||
| * @brief Get sensors values with emitter on and off. | ||
| * @brief Update the sensors raw readings. |
There was a problem hiding this comment.
Change the description to be different than on the function "update_raw_readings". Include the "Clear injected end of conversion" comment on the header of the function. Does not exist a function on libopencm3 to do that? (as for timer floag: timer_clear_flag(TIM1, TIM_SR_UIF))
There was a problem hiding this comment.
You can use adc_clear_flag from common.c file (pull request to libopencm3, it was already working for watchdog interruption flag)
There was a problem hiding this comment.
It seems the adc_clear_flag() differs from what it is written here, right? Now we have:
ADC_SR(ADC1) &= ~ADC_SR_JEOC; But calling adc_clear_flag() would result in:
ADC_SR(ADC1) = ~ADC_SR_JEOC; Note the & is missing.
Is adc_clear_flag() broken?
There was a problem hiding this comment.
Changed docstring as requested: 6faa22a
| } | ||
|
|
||
| /** | ||
| * @brief Update the sensors raw readings. |
| @@ -290,7 +279,7 @@ void side_sensors_calibration(void) | |||
| for (i = 0; i < SIDE_CALIBRATION_READINGS; i++) { | |||
| left_temp += distance[SENSOR_SIDE_LEFT_ID]; | |||
| right_temp += distance[SENSOR_SIDE_RIGHT_ID]; | |||
| sleep_ticks(SENSORS_SM_TICKS); | |||
| sleep_ticks(2); | |||
There was a problem hiding this comment.
why did you change it to 2? Coudl you add an explicative macro?
There was a problem hiding this comment.
How would you call it? It is just some small delay in between readings, it could be any other number really.
I could create a SIDE_CALIBRATION_READINGS_DELAY_TICKS but looks huge just for one use and it really is not important. Does it hurt too much in your eyes? 😂
src/target/detection.c
Outdated
| diff = 0; | ||
| else | ||
| diff = on - off; | ||
| diff /= 4; |
src/control.c
Outdated
| @@ -9,14 +9,14 @@ | |||
| */ | |||
| static volatile float linear_acceleration = 5.; | |||
There was a problem hiding this comment.
why these changes on this commit?
There was a problem hiding this comment.
Just for now, while the robot keeps crashing into walls like a drunken robot... I will remove it before merging into master. I hope...
src/calibration.c
Outdated
| @@ -143,6 +143,7 @@ void run_movement_sequence(const char *sequence) | |||
| */ | |||
| void run_front_sensors_calibration(void) | |||
Peque
force-pushed
the
sensors
branch
4 times, most recently
from
5fb877a to
bf359f5
Compare
|
Moved to Portugal 2019 milestone. Added "on hold" label as this method results in less reliable readings. We probably need some hardware changes to improve that (i.e.: add capacitors next to the emitters to provide the required transient power). |
Fixes #216.