robotont / robotont-firmware

robotont

The metapackage for robotont

robotont-firmware's Issues

version

• hardcode version / git hash information into the firmware
  • are there any options for automating this?
• respond with the version if the VERSION command is received over serial

typo in length param

https://github.com/robotont/robotont-firmware/blob/7f5b0a85d57fb27c89d176c79fcc5ce7e097c949/src/svc/cmd.c#L34C17-L34C17

build instructions to readme

Add the instructions on how to set up mbed-cli with an ARM compiler and build the latest firmware.

Check the units of RS, MS commands and their documentation.

Needs attention. For 'RS' and 'MS' the speed should be in standard units of m/s. For 'RS' it has to be in the Robot's coordinates and for 'MS' it should be the linear speed of the wheel along the axis perpendicular to the motor shaft.
We should clearly note that in 'DC' mode, velocity controllers are disabled and the values are directly set as PWM signal duty cycles for each motor.

Originally posted by @Veix123 in #18 (comment)

serial connection status visualization

For example, turn on a LED when ros_driver successfully connects.

effort & speed limit instructions to readme

Add instructions on how to change the effort and speed limits in the firmware. Figure out where is the best place for the define macro / const variable in the code.

use DMA for serial communication

The NUCLEO board has a DMA controller that could be used to offload some CPU load to the dedicated controller. @oalaro already looked into this in becd7c7. Sending a single message via DMA works, but afterwards everything crashes. Since DMA functions are not implemented in mbed-os yet we have to fall back to the lower level HAL layer.

improve the controller

The Robotont's wheels are currently controlled by 3 PID controllers that are INDEPENDENT! This is problematic, when the speed setpoints for the controllers are not symmetrical (e.g. when moving sidewise) or when disturbances occur on one of the wheels.
We need a single controller that is aware of all encoder values and controls all wheels simultaneously. As a result, blocking the motion of one wheel should proportionally slow down the other two.

DMA for driving LEDs

Is there a way to increase the update rate of the LED strip using the DMA controller?
The idea came from this post: http://www.martinhubacek.cz/arm/improved-stm32-ws2812b-library