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Mobsya / aseba-target-thymio2

Thymio 2 firmware
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Tap event is much too sensitive #7

Closed stephanemagnenat closed 8 years ago

stephanemagnenat commented 9 years ago

As discussed in the corresponding issue on the Aseba tracker aseba-community/aseba#386, the threshold for generated tap event should be revisited.

stephanemagnenat commented 9 years ago

This cannot be solved with current hardware because this processing is done in the electronics of the accelerometer.

retornaz commented 9 years ago

Huh, read the MMA7660 Datasheet ... Hint: register PDET, file mma7660.c, line 165 ...

stephanemagnenat commented 9 years ago

Hum, Michael lied to me then ;-)

riedo commented 9 years ago

We will look into this with Michael for the next firmware release. We need to set priorities in what we want to detect or not and make tests with the PDTH value. For example, a young child should be able to trigger the tap event without hitting too hard, the robot should detect when it hits a wall at a certain speed, the motors should not trigger the tap event etc... So please think about such a requirements list and we'll try our best.

mbonani commented 9 years ago

What I have said that detection is inside the chip and parameters are hardcoded in the firmware. So before saying that I am a liar....

stephanemagnenat commented 9 years ago

So before saying that I am a liar....

that was a (bad) joke, please excuse me if you felt offended, it was not the intention.

mbonani commented 9 years ago

No no absolutely not I understand that was a joke... just be careful on public forums 😉

mbonani commented 8 years ago

The original demand is that you can move with Thymio without firing the tap event. The motors when turning make vibrations. So actual tap event is fired all time. I test several solution to solve this problem, make the accelerometer less sensitive and increase re-bounce count. Both parameter are fix in the firmware. Threshold became so high that than to make a tap you have to really hit strongly the robot. Finally I discover that vibration are mostly in one direction (laterally, in the same axis of wheel). So final solution is to disable X axis for tap detection. Sensitivity is the same as before, I just increase à little the re-boucne count. Final behaviour: you can still detect tap, you can run full speed (500) and also detect when robot hit a wall. In commit e927408

mbonani commented 8 years ago

in last merge please close