Read sensors in the systick #263
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Peque
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src/calibration.c
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| uint32_t ticks_to_stop; | ||
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| disable_walls_control(); | ||
| side_sensors_calibration(); |
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why are you using side_sensors_calibration?
src/calibration.c
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| sleep_us(1000); | ||
| } | ||
| required_deceleration = | ||
| (.3 * .3) / |
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Macro for set_target_linear_speed and these .3* .3.
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Created a variable to store that value (58693b9).
src/target/detection.c
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| /** | ||
| * @brief Get sensors values with emitter on and off. | ||
| * @brief Update the sensors raw readings. |
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Change the description to be different than on the function "update_raw_readings". Include the "Clear injected end of conversion" comment on the header of the function. Does not exist a function on libopencm3 to do that? (as for timer floag: timer_clear_flag(TIM1, TIM_SR_UIF))
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You can use adc_clear_flag from common.c file (pull request to libopencm3, it was already working for watchdog interruption flag)
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It seems the adc_clear_flag() differs from what it is written here, right? Now we have:
ADC_SR(ADC1) &= ~ADC_SR_JEOC; But calling adc_clear_flag() would result in:
ADC_SR(ADC1) = ~ADC_SR_JEOC; Note the & is missing.
Is adc_clear_flag() broken?
| } | ||
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| /** | ||
| * @brief Update the sensors raw readings. |
| left_temp += distance[SENSOR_SIDE_LEFT_ID]; | ||
| right_temp += distance[SENSOR_SIDE_RIGHT_ID]; | ||
| sleep_ticks(SENSORS_SM_TICKS); | ||
| sleep_ticks(2); |
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why did you change it to 2? Coudl you add an explicative macro?
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How would you call it? It is just some small delay in between readings, it could be any other number really.
I could create a SIDE_CALIBRATION_READINGS_DELAY_TICKS but looks huge just for one use and it really is not important. Does it hurt too much in your eyes? 😂
src/target/detection.c
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| diff = 0; | ||
| else | ||
| diff = on - off; | ||
| diff /= 4; |
src/control.c
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| * - Linear deceleration is defined in meters per second squared. | ||
| * - Angular acceleration is defined in radians per second squared. | ||
| */ | ||
| static volatile float linear_acceleration = 5.; |
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why these changes on this commit?
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Just for now, while the robot keeps crashing into walls like a drunken robot... I will remove it before merging into master. I hope...
| * During this movement the robot will be logging information about the front | ||
| * sensors. | ||
| */ | ||
| void run_front_sensors_calibration(void) |
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Moved to Portugal 2019 milestone. Added "on hold" label as this method results in less reliable readings. We probably need some hardware changes to improve that (i.e.: add capacitors next to the emitters to provide the required transient power). |
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Fixes #216.