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1,168 Commits 2 Branches 0 Tags 84 MiB
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65 Commits

Author SHA1 Message Date
Kenn Sebesta bec06ac85a [Utils] Change convenience multiplication factors into convenience MACROs 2021-10-13 14:18:05 -04:00
Kenn Sebesta aeb5d74488 [Utils] Use convenience macros for deg/rad conversions 2021-10-13 11:52:04 -04:00
Mitch Lustig fafe047730 Tiltback updates 2021-08-18 00:45:51 -07:00
Dado Mista f46880d037 Balance: configurable speed/angle for each tiltback type 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-07-29 17:16:32 -07:00
Dado Mista 02caad398a Biquad filters: add config/reset functions 
Also, swap bq_process arguments mimicking C++

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-07-06 11:25:23 -07:00
Davorin Mista ec4eb577be fixup! Balance App: introduce new speed based variable tiltback 2021-06-30 16:17:57 -07:00
Davorin Mista 9f086cfe6f fixup! Balance App: introduce new speed based variable tiltback 2021-06-30 12:50:43 -07:00
Dado Mista 813d5b15fa Balance App: introduce new speed based variable tiltback 
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-06-25 21:42:37 -07:00
Mitch Lustig d561c2669b Add balance loop time correction 2021-06-06 14:01:42 -07:00
Mitch Lustig e2fd6f4b67 Simplify balance app startup sleeps 2021-06-05 17:50:50 -07:00
Mitch Lustig 3e08ca00f2 Add support for debugging to the experiments tab 2021-06-05 17:14:23 -07:00
Mitch Lustig de9400e461 Add brake timeout 2021-06-05 16:05:19 -07:00
Mitch Lustig d68fc0ff4f Balance: Updates 
-Fix D term to use angle rather than error (which includes tilt steps)
-Switch TT to Biquad (Clear z1 z2)
-Split TT Relax speed
-Add Biquad to D term
-Add console command to graph specific variables
-Add console command to dump realtime data from specific variables
 2021-06-01 03:20:00 -07:00
Mitch Lustig 1711ff953a Balance app cleanup 
Increase motor timeout to account for sleep inaccuracy and whatever else.

Set motor timeout to a variable, to reduce calculation repetition.

Only calculate motor timeout after config is set, so we never divide by 0.

Reorder functions so exposed functions are at the start.

Make app's internal functions static.
 2021-05-23 14:58:47 -07:00
Mitch Lustig b237cf4b9f Add High Pass FIlter, implement current off delay, refactor constanttilt 2021-05-16 14:53:03 -07:00
Mitch Lustig c9ed013f13 Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts 2021-04-17 18:05:24 -07:00
Mitch Lustig 273f067db3 Code Cleanup 2021-04-07 22:42:21 -07:00
Mitch Lustig af941b3182 Little cleanup 2021-04-07 00:30:37 -07:00
Mitch Lustig 08f27f433c Add turn tilt 2021-04-06 02:18:32 -07:00
Mitch Lustig 175ed9e21c Merge branch 'dev_fw_5_03' into brc_mod_1 2021-04-01 20:57:44 -07:00
mattbutlar fae1466601 Add comment on value mapping 2021-04-01 14:35:57 -07:00
mattbutlar bb7b049d86 Remove loop timing test 2021-04-01 09:53:03 -07:00
mattbutlar b61049b18e Change roll comp math to avoid external deps 2021-03-30 23:20:35 -07:00
mattbutlar 4f74c179a2 Simplify roll comp math 2021-03-29 14:42:30 -07:00
Mitch Lustig 9f41e4407f Fix compiler warning 2021-03-28 14:41:05 -07:00
Mitch Lustig decdc7e7d6 Add torquetilt 2021-03-27 20:13:22 -07:00
Mitch Lustig 3b9fe6ec67 Add Booster 2021-03-27 14:00:55 -07:00
Mitch Lustig 49e624ba3b Remove boring features 2021-03-27 12:17:10 -07:00
mattbutlar 583e62933d Add roll compensation to the balance app 2021-03-14 22:57:47 -07:00
Mitch Lustig 27e1d11f4a Lil fixes 2020-07-04 03:35:19 -07:00
Mitch Lustig 0f5c6f5379 Add confgen and running states 2020-07-04 00:11:20 -07:00
Mitch Lustig 7db04df582 Add all the variables 2020-07-03 20:33:15 -07:00
Mitch Lustig 8299445c66 Basic feature set complte 
Fix some bugs
Add D-Term PT1 Filter
Add all the fault delays
Setpoint clamp no longer breaks tiltback
Add configurable constant tiltback erpm
 2020-07-02 01:07:54 -07:00
Mitch Lustig b61a0ea7be Add additional timer for switch half state 2020-06-19 01:28:52 -07:00
Mitch Lustig da7b3a0ffb Mix of stuff (Not a working state) 
Organize vars
Hack in dterm PT1
Improve faults
Remove dead state
 2020-06-19 01:00:37 -07:00
Mitch Lustig 24afd4e6f3 Balance sprint 3 
-Can steering based on speed
-Can steering current clamp
-Min rpm for half switch state fault
-Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit)
-Reset I value on faults issue #117
-fix startup tiltback
 2020-03-15 23:18:34 -07:00
Mitch Lustig 6d29b6741f Use ADC for switches 2020-02-23 13:34:51 -08:00
Mitch Lustig d4f6036de7 Implement nose angle adjustment 2020-02-23 10:23:19 -08:00
Mitch Lustig 2c07512091 Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy 2020-02-23 00:22:21 -08:00
Mitch Lustig 343dba369a Remove axis config 2019-09-21 01:07:31 -07:00
Mitch Lustig b53102d6fd Fix build for versions without HW_SPI 2019-09-12 23:08:56 -07:00
Mitch Lustig 3c31d264fd Add high voltage tiltback 2019-09-12 00:07:26 -07:00
Mitch Lustig 95483cff41 Centralise IMU startup sequence 2019-09-11 23:08:28 -07:00
Mitch Lustig 518776d04e Add basic low voltage tiltback 2019-09-10 19:29:44 -07:00
Mitch Lustig 22d4f7c99a Fix the index, fix the build 2019-09-10 02:25:13 -07:00
Mitch Lustig 8638036750 Fix wheel spin-up on boot 
By waiting for gyro to be initialized
 2019-09-10 02:04:04 -07:00
Mitch Lustig 67a4653bd8 Add support for dual fault switches 2019-09-10 01:07:05 -07:00
Mitch Lustig 1cc9a9b14c Re-implement startup AHRS config override 
So my EUC stops trying to kill me when i boot it up laying down
 2019-09-08 22:38:09 -07:00
Mitch Lustig a4de5eb2b5 Cleanup 2019-09-08 22:23:31 -07:00
Mitch Lustig 72e9c24bd7 Make axes configurable, remove offset management 2019-09-08 18:32:53 -07:00