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WPIRoboticsEngineering / RBE3001_nucleo_firmware

Sample firmware for the RBE 3001 arm
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Upgrade to modern dependencies & tooling #28

Closed WardBenjamin closed 4 years ago

WardBenjamin commented 4 years ago

Dependencies including mbed-os and arm-gcc are outdated and do not allow the use of modern language features, operating systems, etc. Please see (https://github.com/WPIRoboticsEngineering/mbed-os/issues/1 for more mbed-os details.

Modern ARM GCC compilers can be easily installed to /opt from the official ARM website using just wget and tar. The Launchpad PPA for gcc-arm-embedded is deprecated.

Eclipse 2017 can be replaced by a less-fragile installation of either VS Code (preferable) using either the current mbed-os toolchain or PlatformIO, or at the very minimum a more modern version of Eclipse (not preferable, but better).

kid-a commented 4 years ago

Thank you for opening this issue. The entire hardware infrastructure for RBE 3001 will be overhauled and modernized next year - we are working on this as we speak. The new hardware will likely come with a new development infrastructure and tooling. We will definitely take into consideration the upgrades suggested above. For now, I recommend closing this issue - we will not be able to take action on this before the summer break anyway.

WardBenjamin commented 4 years ago

Good to know, thank you! Can you share any details about the new hardware?

alextac98 commented 4 years ago

Good to know, thank you! Can you share any details about the new hardware?

We haven't really decided yet. We are looking into brushless motors and more specialized controllers, but no decision has been made yet.

kid-a commented 4 years ago

@WardBenjamin If you have any recommendations, of if you have worked with some components (e.g. motors) that you particularly liked, we would love to hear your inputs!

madhephaestus commented 4 years ago

We are looking at these motors: https://odoo.cs.wpi.edu/shop/product/emax-gb2808-brushless-gimbal-motor-hollow-shaft-70kv-1194

these drivers:

https://odoo.cs.wpi.edu/shop/product/odrive-v3-6-24v-with-connectors-1120?search=odrive

and a Teensy 3.5 as the coordinator processor. From the teensy up will be exactly the same, except there will be torque limiting on each axis with torque sensing on each link based on the current draw by the motor.