Finalize Motor Controller#51

Draft

justinnuwin wants to merge 47 commits intofprime-fsw/stagingfrom

justin/fprime/navigation

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
justinnuwin
committed

Commits on Apr 10, 2021

Merge branch 'fprime-fsw/staging' into justin/fprime/navigation
justinnuwin
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Checking in latest motor control code, still changes to be made
Iris Watchdog Developers
committed

Commits on Apr 11, 2021

Substantial code cleanup and formatting and notes from code review also included in this commit (sorry it's messy)
justinnuwin
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Refactor I2C specific code out of fprime component into its own translation unit.
justinnuwin
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Additional formatting
justinnuwin
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Ignoring build folders (release & debug)
Iris Watchdog Developers
committed
Integrated open loop control (that will actually drive rover) and connected it to i2c interface; can be toggled with first bit in controlRegister
Iris Watchdog Developers
committed
Added flag for position converging in status register, also cleaned up how controlRegister works a bit
Iris Watchdog Developers
committed
Fixed telemetry values to match C&TL document
Iris Watchdog Developers
committed

Commits on Apr 12, 2021

Commits on Apr 13, 2021

Commits on Apr 14, 2021

Modified Watchdoginterface reset commands to be enumerations to prevent impossible reset commands
alecjprobst
committed

Commits on Apr 15, 2021

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
alecjprobst
committed

Commits on Apr 23, 2021

Working on open loop
Iris Watchdog Developers
committed

Commits on Apr 27, 2021

Open loop bug resolved, also will now converge and change flag
Iris Watchdog Developers
committed
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 …
Iris Watchdog Developers
committed

Commits on Apr 28, 2021

Going to revert back to older commit
Iris Watchdog Developers
committed

Commits on Apr 29, 2021

i2c funkiness (part a million) resolved. Must. not. put. too. much. in. interrupts.
Iris Watchdog Developers
committed

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
committed
Merge pull request #52 from PlanetaryRobotics/jSchwartz/motorController/finalization-#51
Jonathan Schwartz
authored

Commits on Oct 15, 2021

trying to fix gitingore
iris-hermes-mobile
committed

Commits on Oct 26, 2021

removing build files that we don't want on github
iris-hermes-mobile
committed