Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Scale Left and Right to slew before main vector scaling happens #110

Closed
ssejrog opened this issue Jun 2, 2024 · 0 comments
Closed

Scale Left and Right to slew before main vector scaling happens #110

ssejrog opened this issue Jun 2, 2024 · 0 comments
Assignees
@ssejrog
Labels
bug Something isn't working

Comments

@ssejrog
Copy link
Member

ssejrog commented Jun 2, 2024

With #82 came vector scaling to keep resolution between the left and right side and the imu.

The first step of this is clamping the left and right PID outputs to the max slew output.

  double l_drive_out = util::clamp(leftPID.output, slew_left.output(), -slew_left.output());
  double r_drive_out = util::clamp(rightPID.output, slew_right.output(), -slew_right.output());

This has lost resolution, and should be scaled to the max slew output instead.
@ssejrog ssejrog added the bug Something isn't working label Jun 2, 2024
@ssejrog ssejrog self-assigned this Jun 2, 2024
ssejrog added a commit that referenced this issue Jun 2, 2024
@ssejrog
🐛Fixed scaling in drive pid #110 (#116)
939e390
ssejrog added a commit that referenced this issue Jun 10, 2024
@ssejrog @WillXuCodes
⬆️3.1.0 (#124)
9699470 
* New action for deploying website

* ⬆️ PROS 4 Porting work (#100)

* New action for deploying website (#98)

* PROS 4 Porting work

* Revert gitignore

* Added imu loading animation

---------

Co-authored-by: Jess Zarchi <[email protected]>

* 🐛Fixed unit conversion for exit conditions

* 🐛Fixed derivative kick #99 (#105)

* ✨Added imu scaling #104 (#106)

* ✨Imu velocity exiting #102 

* PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions

* Made names more clear, added missing functions

* 🐛Max text width is wider #112 (#113)

* 🐛Exit condition print error #111 (#114)

* ✨Motion chaining #109 (#115)

* Motion chaining and quick exits are functional #109

* Added reverse constants, okapi units, finalized function names and comments

* 🐛Fixed scaling in drive pid #110 (#116)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

---------

Co-authored-by: Will Xu <[email protected]>
@ssejrog ssejrog closed this as completed Jun 10, 2024
ssejrog added a commit that referenced this issue Jun 10, 2024
@ssejrog @WillXuCodes
Bring final 3.1.0 over to dev (#125)
3180437 
* New action for deploying website (#98)

* ⬆️3.1.0 (#124)

* New action for deploying website

* ⬆️ PROS 4 Porting work (#100)

* New action for deploying website (#98)

* PROS 4 Porting work

* Revert gitignore

* Added imu loading animation

---------

Co-authored-by: Jess Zarchi <[email protected]>

* 🐛Fixed unit conversion for exit conditions

* 🐛Fixed derivative kick #99 (#105)

* ✨Added imu scaling #104 (#106)

* ✨Imu velocity exiting #102 

* PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions

* Made names more clear, added missing functions

* 🐛Max text width is wider #112 (#113)

* 🐛Exit condition print error #111 (#114)

* ✨Motion chaining #109 (#115)

* Motion chaining and quick exits are functional #109

* Added reverse constants, okapi units, finalized function names and comments

* 🐛Fixed scaling in drive pid #110 (#116)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

---------

Co-authored-by: Will Xu <[email protected]>

* Hotfix broken link

---------

Co-authored-by: Will Xu <[email protected]>
ssejrog added a commit that referenced this issue Jun 10, 2024
@ssejrog @WillXuCodes
Release/3.1.0 (#126)
180934f 
* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

* Bring final 3.1.0 over to dev (#125)

* New action for deploying website (#98)

* ⬆️3.1.0 (#124)

* New action for deploying website

* ⬆️ PROS 4 Porting work (#100)

* New action for deploying website (#98)

* PROS 4 Porting work

* Revert gitignore

* Added imu loading animation

---------

Co-authored-by: Jess Zarchi <[email protected]>

* 🐛Fixed unit conversion for exit conditions

* 🐛Fixed derivative kick #99 (#105)

* ✨Added imu scaling #104 (#106)

* ✨Imu velocity exiting #102 

* PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions

* Made names more clear, added missing functions

* 🐛Max text width is wider #112 (#113)

* 🐛Exit condition print error #111 (#114)

* ✨Motion chaining #109 (#115)

* Motion chaining and quick exits are functional #109

* Added reverse constants, okapi units, finalized function names and comments

* 🐛Fixed scaling in drive pid #110 (#116)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

---------

Co-authored-by: Will Xu <[email protected]>

* Hotfix broken link

---------

Co-authored-by: Will Xu <[email protected]>

---------

Co-authored-by: Will Xu <[email protected]>
ssejrog added a commit that referenced this issue Jun 10, 2024
@ssejrog @WillXuCodes
Bring 3.1.0 to dev (#127)
5f3fb28 
* New action for deploying website (#98)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

* ⬆️3.1.0 (#124)

* New action for deploying website

* ⬆️ PROS 4 Porting work (#100)

* New action for deploying website (#98)

* PROS 4 Porting work

* Revert gitignore

* Added imu loading animation

---------

Co-authored-by: Jess Zarchi <[email protected]>

* 🐛Fixed unit conversion for exit conditions

* 🐛Fixed derivative kick #99 (#105)

* ✨Added imu scaling #104 (#106)

* ✨Imu velocity exiting #102 

* PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions

* Made names more clear, added missing functions

* 🐛Max text width is wider #112 (#113)

* 🐛Exit condition print error #111 (#114)

* ✨Motion chaining #109 (#115)

* Motion chaining and quick exits are functional #109

* Added reverse constants, okapi units, finalized function names and comments

* 🐛Fixed scaling in drive pid #110 (#116)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

* Main project updated to example, fixed #122 and #123

* Final 3.1.0 push.  Template and example project finalized

---------

Co-authored-by: Will Xu <[email protected]>

* Hotfix broken link

---------

Co-authored-by: Will Xu <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@ssejrog ssejrog

Labels
bug Something isn't working
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@ssejrog