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Finalize Motor Controller#51

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justinnuwin wants to merge 47 commits intofprime-fsw/stagingPlanetaryRobotics/IrisRoverPackage:fprime-fsw/stagingfrom justin/fprime/navigationPlanetaryRobotics/IrisRoverPackage:justin/fprime/navigationCopy head branch name to clipboard

+52,069-10,385

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Commits on Apr 8, 2021

• Fix motor contorl writing to read only register for controlling motors. Add FIXMEs for conversion from commanded values to motor control values

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Commits on Apr 10, 2021

• Merge branch 'fprime-fsw/staging' into justin/fprime/navigation

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• Checking in latest motor control code, still changes to be made

  

  Iris Watchdog Developers

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Commits on Apr 11, 2021

• Substantial code cleanup and formatting and notes from code review also included in this commit (sorry it's messy)

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• Refactor I2C specific code out of fprime component into its own translation unit.

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• Additional formatting

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• Ignoring build folders (release & debug)

  

  Iris Watchdog Developers

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• Integrated open loop control (that will actually drive rover) and connected it to i2c interface; can be toggled with first bit in controlRegister

  

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• Added flag for position converging in status register, also cleaned up how controlRegister works a bit

  

  Iris Watchdog Developers

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• Fixed telemetry values to match C&TL document

  

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Commits on Apr 12, 2021

• Added internal check that motor is opreating as expected; if it isn't for several time steps then a flag is added to status_register and controller stops trying to drive motor (until it is given a …

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  Iris Watchdog Developers

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• Added ability to toggle controller stopping itself when a fault is encountered

  

  Iris Watchdog Developers

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• Made fault register useful (indicators for faults of position not changing or driving in the wrong direction)

  

  Iris Watchdog Developers

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• Add support for switching the maximum MTU when switching from one network interface to another. Allocate separate downlink buffers for applications and selecting correct downlink buffer when each a…

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• Add TODO and rename flushDownlinkBuffer to flushTlmDownlinkBuffer to be more specific

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• Finish renaming all instances of flushDownlinkBuffer with flushTlmDownlinkBuffer. Reorder when some tlm variables are updated to be more useful. Add command to set telemetry level of the GroundInte…

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Commits on Apr 13, 2021

• Changed relative_target_position to just target_position; new commands are added to position instead of resetting it

  

  Jonathan Schwartz

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• Slight bugs resolved for t-vac testing

  cedriccorpa

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Commits on Apr 14, 2021

• Modified Watchdoginterface reset commands to be enumerations to prevent impossible reset commands

  alecjprobst

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Commits on Apr 15, 2021

• Merge branch 'justin/fprime/groundinterface_staging' into justin/fprime/navigation

  justinnuwin

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• Debugging motor control i2c (thanks justin :D)

  

  Iris Watchdog Developers

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• Checkin motor control component changes and clean up for EM4 checkout

  justinnuwin

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• Major code cleanup, simplification, annotation, and conformance modificaitons to MotorControlComponent. Needs testinggit status

  justinnuwin

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Commits on Apr 16, 2021

• spotty i2c issues resolved! Don't put all of your code in an interrupt :S ... controller is a bit wacky now, probably due to timing being different now that it isn't in interrupt. Will investigate

  

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• Modified WatchdogInterface to add new commands and updated with comments

  alecjprobst

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• i2c interrupts now turn off timer interrupt while they are running, seems to have resolved last remaining funkiness

  

  Iris Watchdog Developers

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• Added more comments to cpp and hpp files

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• Updated hpp file with final comments

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Commits on Apr 20, 2021

• Modified .xml file to include new variables defined by Connor. Changed .cpp/.hpp to reflect these new variables. Should be no change on how program runs normally since functions only used by Watchdog

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Commits on Apr 21, 2021

• Check in latest motor controller code tested WORKING with Jonathan.

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• Don't update revision from feature branch

  justinnuwin

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• Merge pull request #53 from PlanetaryRobotics/alec/fprime/fprime-fsw/staging/watchdoginterface

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• Merge branch 'justin/fprime/navigation' into justin/fprime/groundinterface_staging

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• Add bugfix for Watchdog reset test and comment for checking uplink ip address

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Commits on Apr 23, 2021

• Working on open loop

  

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Commits on Apr 27, 2021

• Open loop bug resolved, also will now converge and change flag

  

  Iris Watchdog Developers

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• Added timeout to motor controllers (~128 seconds), implemented EXECUTE_COMMAND bit of control register, added ability to override default open loop PWM and control it using the desired speed given …

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Commits on Apr 28, 2021

• Going to revert back to older commit

  

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Commits on Apr 29, 2021

• i2c funkiness (part a million) resolved. Must. not. put. too. much. in. interrupts.

  

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Commits on May 1, 2021

• Checking in code after testing with Justin

  

  Iris Watchdog Developers

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• Check in WORKING and TESTED motor control code and test pattern in Main

  justinnuwin

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• Fixed i2c readings for speed & current PI gains, also updated timeout counter to actually work

  

  Iris Watchdog Developers

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• Add tests for Kp, openloop, and timeout

  justinnuwin

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• Cleaned up code & corrected small bug with integral term being fully reset (caused stop-start behavior when given large position setpoints

  

  Iris Watchdog Developers

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• Merge pull request #52 from PlanetaryRobotics/jSchwartz/motorController/finalization-#51

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  Jonathan Schwartz

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Commits on Oct 15, 2021

• trying to fix gitingore

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Commits on Oct 26, 2021

• removing build files that we don't want on github

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