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IRNAS / koruza-rpi-package

Software package for KORUZA compute module
GNU General Public License v3.0
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Motors sutck in alignment #9

Closed SloMusti closed 6 years ago

SloMusti commented 7 years ago

When running the alignment algorithm motors report to be stuck and algorithm stalls, however moving them from web interface is still possible, thus is some kind or a sw bug. See the log below generated by the following code: https://github.com/IRNAS/koruza-rpi-package/blob/tracking_dev/examples/alignment.py

2017-09-11 11:49:06,399 ALIGNMENT: Go to (2271.000000, -1267.000000) 

2017-09-11 11:49:08,158 INFO: Target coordinates reached.

2017-09-11 11:49:08,313 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:08,665 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:09,028 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:09,355 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:09,670 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:10,022 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:10,276 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:10,560 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:10,858 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:11,139 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:11,248 ALIGNMENT: 2271.000000 -1267.000000 -24.612487 -14.038173 

2017-09-11 11:49:13,454 New position: X: 2271 Y: -1267 wantedX: 2271 wantedY: -1267

2017-09-11 11:49:13,464 ALIGNMENT: Go to (2271.000000, -1167.000000) 

2017-09-11 11:49:14,837 INFO: Target coordinates reached.

2017-09-11 11:49:15,032 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:15,352 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:15,632 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:15,993 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:16,357 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:16,722 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:17,059 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:17,406 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:17,753 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:18,113 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:18,220 ALIGNMENT: 2271.000000 -1167.000000 -23.585063 -13.085275 

2017-09-11 11:49:20,395 New position: X: 2271 Y: -1167 wantedX: 2271 wantedY: -1167

2017-09-11 11:49:20,401 ALIGNMENT: Go to (2521.000000, -1167.000000) 

2017-09-11 11:49:22,135 INFO: Target coordinates reached.

2017-09-11 11:49:22,292 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:22,667 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:22,981 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:23,289 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:23,655 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:23,896 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:24,201 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:24,499 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:24,760 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:25,025 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:25,131 ALIGNMENT: 2521.000000 -1167.000000 -23.962443 -12.774607 

2017-09-11 11:49:27,283 New position: X: 2521 Y: -1167 wantedX: 2521 wantedY: -1167

2017-09-11 11:49:27,294 ALIGNMENT: Go to (2621.000000, -1167.000000) 

2017-09-11 11:49:28,309 INFO: Target coordinates reached.

2017-09-11 11:49:28,465 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:28,844 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:29,279 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:29,618 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:29,974 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:30,222 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:30,517 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:30,759 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:31,031 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:31,291 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:31,400 ALIGNMENT: 2621.000000 -1167.000000 -23.487532 -11.831013 

2017-09-11 11:49:33,704 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1167

2017-09-11 11:49:33,714 ALIGNMENT: Go to (2621.000000, -1417.000000) 

2017-09-11 11:50:03,888 WARNING: Motors stuck when trying to reach target coordinates.
2017-09-11 11:50:04,069 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1417

2017-09-11 11:50:04,074 POSITION NOT REACHED, RE-SEND!

2017-09-11 11:50:34,276 WARNING: Motors stuck when trying to reach target coordinates.
2017-09-11 11:50:34,470 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1417

2017-09-11 11:50:34,476 POSITION NOT REACHED, RE-SEND!

2017-09-11 11:51:04,690 WARNING: Motors stuck when trying to reach target coordinates.
2017-09-11 11:51:04,854 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1417

2017-09-11 11:51:04,866 POSITION NOT REACHED, RE-SEND!

2017-09-11 11:51:35,156 WARNING: Motors stuck when trying to reach target coordinates.
2017-09-11 11:51:35,354 New position: X: 2621 Y: -1167 wantedX: 2621 wantedY: -1417

2017-09-11 11:51:35,361 POSITION NOT REACHED, RE-SEND!
SloMusti commented 6 years ago

This is a bug in https://github.com/IRNAS/Koruza-Move-Driver-Firmware