add and evaluate current sensor

Armandpl / furuta

Building and Training a Rotary Inverted Pendulum robot

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add and evaluate current sensor #54

Open Armandpl opened 9 months ago

Armandpl commented 9 months ago

[ ] simulate current sensor
[ ] train with/without current info in sim and see if it provide an advantage
[ ] it the following can
[ ] update firmware and com protocol to work with the current sensor on the real robot
- could be that the current sensor doesn't help in sim but would help in real life so this can be done in parallel
[ ] train with/without current sensor in real life
[ ] decide if we want to keep the current sensor or discard it
- if we discard it, revert changes to the code but keep track of experiments somewhere

pierfabre commented 9 months ago

Our current sensor outputs 5V analog which is too much for the seeduino. We then need to go through a ADC and then through a logic level shifter. This makes us want to maybe use a current sensor that outputs 3V max CS0350BL would be a good candidate. On this figure, If is 3A which corresponds to our motor stall current. It cost around 25€

Armandpl commented 9 months ago

Additional issue: reading the ADC is slow (~300Hz)

Maye it can be set to continuous mode? What does that mean exactly? see https://github.com/RobTillaart/ADS1X15/blob/master/examples/ADS_continuous_4_channel/ADS_continuous_4_channel.ino

pierfabre commented 9 months ago

Might have found something! https://cdn-learn.adafruit.com/downloads/pdf/adafruit-ina219-current-sensor-breakout.pdf range : +- 3.2 A logic level : 3V accepted has a ADC inside https://www.amazon.com/HiLetgo-INA219-Bi-directional-Current-Breakout/dp/B01ICN5OAM 7$ on amazon