Merging

.gitignore

@@ -2,3 +2,4 @@
 .piolibdeps
 .clang_complete
 .gcc-flags.json
+/src/*.gch

src/main.cpp → src/Main.cpp

@@ -34,6 +34,9 @@ void runPid(){
    for (int i=0;i<numberOfPid;i++){
      //reset after encoders have been updated a few times
      pid[i]->InitilizePidController();
+     if(pid[i]->GetPIDPosition()>2048){
+       pid[i]->pidReset(pid[i]->GetPIDPosition()-4095);
+     }
      //pid[i]->ZeroPID();// set the current encoder value to 0
                        // this should be replaced by calibration routine
      pid[i]->SetPIDEnabled( true);// Enable PID to start control

src/MyPid.cpp

@@ -19,13 +19,16 @@ float PIDimp::resetPosition( float newCenter){
 }
 void PIDimp::onPidConfigureLocal(){
   setPIDConstants(kp,ki,kd);
+  // pd velocity constants
+  state.config.V.P=vkp;
+  state.config.V.D=vkd;
   // this will change the sign of the output signal, and will flip between converging and and diverging
   state.config.Polarity=true;
   state.config.stop=0.5f;// the center value for the servo object
   // this is the maximum value that should come in through setOutputLocal
   state.config.outputMaximum=0.7f;
   // this is the minimum value that should come in through setOutputLocal
-  state.config.outputMinimum=0.4f;
+  state.config.outputMinimum=0.3f;
   // the smallest increment of change for the output
   state.config.outputIncrement=0.0005f;
   // the upper and lower hystersis values for where the motor starts moving

src/MyPid.h

@@ -4,9 +4,11 @@
 #include "AS5050.h"
 #include "Servo.h"
 #include "RunEvery.h"
-#define kp 0.01
+#define kp 0.005
 #define ki 0
 #define kd 0
+#define vkp 0.005
+#define vkd 0
 class PIDimp : public PIDBowler{
 public:
   // constructor taking in the hardware objects

src/checksum.cpp

@@ -0,0 +1,50 @@
+/**
+ * @file    checksum.cpp
+ * @brief   Utility Function - Data integrity helpers
+ * @author  sam grove
+ * @version 1.0
+ *
+ * Copyright (c) 2013
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "checksum.h"
+
+bool validateChecksum( uint8_t const *pkt, uint32_t const length )
+{
+    uint32_t pos = 0;
+    uint8_t sum = 0;
+    while ( pos < (length-1) )
+    {
+        sum += *(pkt+pos++);
+    }
+    sum = 0x0 - sum;
+    // return 0 or 1 based on the checksum test
+    return (sum == *(pkt+pos)) ? 1 : 0;
+}
+
+void calculateChecksum( uint8_t *pkt, uint32_t const length )
+{
+    uint32_t pos = 0;
+    uint8_t sum = 0;
+    while ( pos < (length-1) )
+    {
+        sum += *(pkt+pos++);
+    }    
+    // put the checksum into the data stream
+    *(pkt+pos) = 0x0 - sum;
+
+    return;
+}
+

src/checksum.h

@@ -0,0 +1,80 @@
+/**
+ * @file    checksum.h
+ * @brief   Utility Function - Data integrity helpers
+ * @author  sam grove
+ * @version 1.0
+ *
+ * Copyright (c) 2013
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CHECKSUM_H
+#define CHECKSUM_H
+
+#include <stdint.h>
+
+/** Helpers for working data streams
+ *
+ * Example:
+ * @code
+ *  #include "mbed.h"
+ *  #include "checksum.h"
+ *
+ *  DigitalOut myled(LED1);
+ *  
+ *  template <int T>
+ *  struct data{
+ *      uint8_t buf[T];
+ *      uint8_t checksum;
+ *  };
+ *  data<12> all_ones = {{1,1,1,1,1,1,1,1,1,1,1,1}};
+ *
+ *  int main() 
+ *  {
+ *      calculateChecksum( all_ones.buf, sizeof(all_ones) );
+ *      
+ *      for(int i=0; i<sizeof(all_ones); i++)
+ *      {
+ *          printf("%02d: %d\n", i, *(all_ones.buf+i));
+ *      }
+ *
+ *      printf("checksum test: %s\n", (result)?"passed":"failed");
+ *
+ *      while(1) 
+ *      {
+ *          myled = 1;
+ *          wait(0.2);
+ *          myled = 0;
+ *          wait(0.2);
+ *      }
+ *  }
+ * @endcode
+ */
+
+/** Calculate the checksum of a data stream
+ *  Assumes the checksum is in the last position, 8-bits and 0 - the sum of data 
+ *  @param pkt - A pointer to the data
+ *  @param length - The amount of data that the checksum calculates
+ *  @returns true if the checksum is correct and false otherwise
+ */
+bool validateChecksum( uint8_t const *pkt, uint32_t const length );
+
+/** Calculate and store the checksum into the last position of a data stream
+ *
+ *  @param pkt - A pointer to the data
+ *  @param length - The amount of data that the checksum calculates
+ */
+void calculateChecksum( uint8_t *pkt, uint32_t const length );
+
+#endif

src/library.json

@@ -19,12 +19,6 @@
       "email": "narosenberg@wpi.edu"
     }
   ],
-  "dependencies":
-  {
-    "name": "OneWire",
-    "authors": "Paul Stoffregen",
-    "frameworks": "arduino"
-  },
   "version": "0.0.1",
   "frameworks": "mbed",
   "platforms": "ststm32"