PCB revB commissioning, including: fixing PID, speed command logic, I2C error recovery, current limiting. slight scope creep....

markmellors commented 3 months ago

pcb commissioning:

ESC initialisation when Brawn switch is flicked (uses polling, TODO: fix the interrupt approach)
Pin defs

general improvements

fixing PID by making stokers an observer of the stateestimator
fixing speed command logic, so we actually calcualte the desired motor rpm (actually now radians per second), based on wheel size and gear ratio
I2C error recovery, including bus resets when necessary
Psuedo-current limiting by limiting the throttle command/duty based on the current actual speed of the motor
fixed/reverted most of the sign/handeness changes from previously wiring up the motors incorrectly, and the broken PID

new PCB now does what the motor2040 did, but hopefully with less paranormal activity.

robberwick commented 3 months ago

this is good, but there are some trivial conflicts that need resolving before it can be merged 👍

markmellors commented 3 months ago

rebased, can now merge

thingswebuilt / osod24_firmware