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compare: ank:cc4d99c21899ced6a1e98f68faaf51a2d455928e
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c97954b815 ... cc4d99c218

3 changed files with 16 additions and 3 deletions
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cad/Drive Wheel Tolerance Test.SLDPRT
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cad/Drive Wheel-2.SLDPRT
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19
robot_controller/robot_controller.ino
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@ -36,12 +36,25 @@ void setup() {
// TUNE VELOCITY PID // TUNE VELOCITY PID
left_motor.tune_vel_pid(0.9, 3.7,0.3,0.0); left_motor.tune_vel_pid(0.9, 3.7,0.3,0.0);
delay(10); delay(10);
right_motor.tune_vel_pid(0.9, 3.7,0.3,0.0); right_motor.tune_vel_pid(0.0, 3.7,0.3,0.0);
delay(10); delay(10);
//right_motor.set_direction(PIDDirection::DIRECT); right_motor.set_direction(PIDDirection::DIRECT);
uint16_t ratio = right_motor.get_gear_ratio();
Serial.print("ratio: ");
Serial.println(ratio);
ratio = left_motor.get_gear_ratio();
Serial.print("ratio: ");
Serial.println(ratio);
delay(1000); delay(1000);
// SET MOTOR POSITION
//int32_t angle=360;
//uint8_t status= left_motor.write_angle(angle);
//delay(1000);
// READ MOTOR POSITION // READ MOTOR POSITION
int32_t pos = left_motor.read_angle(); int32_t pos = left_motor.read_angle();
Serial.print("Pos: "); Serial.print("Pos: ");
@ -68,7 +81,7 @@ void loop() {
left_motor.write_rpm(setpoint.velocity * CMS_RPM); left_motor.write_rpm(setpoint.velocity * CMS_RPM);
delay(10); delay(10);
right_motor.write_rpm((robot_state == TURN ? velocity : -velocity) * CMS_RPM); right_motor.write_rpm(robot_state == TURN ? -velocity : velocity);
delay(10); delay(10);
// READ MOTOR POSITION // READ MOTOR POSITION