MorphGI / Mbed OS LoCoMoTE_MidLevel_7-0

Mid level control code

Dependencies:   ros_lib_kinetic

Changes

RevisionDateWhoCommit message
41:0e3898b29230 2020-09-03 dofydoink Adjusted max pressure to 12bar to fit new sensors default tip
40:15418f11da11 2019-11-21 WD40andTape Removed generic README.
39:e69a6fa12977 2019-07-12 WD40andTape Fixed merge conflicts.
38:8d36df9244e9 2019-07-12 WD40andTape Merge branches.
37:37da606f4466 2019-07-12 WD40andTape Cleaning develop code.
36:4459be8296e9 2019-07-09 WD40andTape tested and working with 9 stages
35:26d36418e369 2019-07-09 dofydoink Motor 6 (0-indexed 7) given working pin.
34:54e9ebe9e87f 2019-04-15 WD40andTape Added 7th actuator - updated pins. Tested and working.
33:9877ca32e43c 2019-03-13 WD40andTape Added support functions - receiving and control.
32:8c59c536a2a6 2019-03-08 WD40andTape Fixed memory overflow bug in planning for separate segments.
31:08cb04eb75fc 2019-03-06 WD40andTape Updated to accept input speed, process, and output time separately for each segment. Tested and working.
30:6c8eea90735e 2019-02-15 WD40andTape Serial communication now tested, smooth and stable.
29:10a5cf37a875 2019-02-08 WD40andTape Actuator numbering standardised. Units converted to mm. Added text message feedback. Using Int16MultiArray instead of Float32MultiArray.
28:8e0c502c1a50 2019-02-06 WD40andTape Tested and working (separate from HL).
27:6853ee8ffefd 2019-01-29 WD40andTape Fixed sensor messages. Working.
26:7c59002c9cd7 2019-01-28 WD40andTape Working on updates to move trajectory planning to low level. Updated to consistently use mm.
25:88e6cccde856 2018-12-17 WD40andTape Fixed splitting across 2 SPI buses in SendReceiveData. Still need to fix SPI writing and processing received data.
24:bc852aa89e7a 2018-12-17 WD40andTape Updating ML/LL communications.
23:61526647cc8a 2018-12-14 dofydoink Updated communications. Still need to sort out how feedback is handled by ML.
22:82871f00f89d 2018-12-12 WD40andTape Updates.
21:0b10d8e615d1 2018-12-11 WD40andTape Updates to main to move path following to LL
20:b2139294c547 2018-11-27 WD40andTape Deleted old replan code.
19:e5acb2183d4e 2018-11-27 WD40andTape Input is now a velocity, not a time. Output remains as a time.
18:6533fb7f5a91 2018-10-10 WD40andTape Temporarily disabling sensor feedback due to lag.
17:bbaf3e8440ad 2018-10-04 WD40andTape Sensor feedback through Ethernet.
16:1e2804a4e5bd 2018-09-11 WD40andTape TEMP: Sending position and pressure for one actuator over serial.
15:59471daef4cb 2018-08-31 WD40andTape Increased actuator limits to 0.04 m.
14:54c3759e76ed 2018-08-29 WD40andTape Temp fix for actuator numbering and added handling to only replan some actuators. Tested and working with 6 actuators.
13:a373dfc57b89 2018-08-29 WD40andTape Added limits to smooth path plan and fixed path replan (isTimeChanged) logic.
12:595ed862e52f 2018-08-13 dofydoink Tested and working with 3 channels.
11:7029367a1840 2018-08-10 dofydoink Tested and working with 1 actuator.
10:1b6daba32452 2018-08-07 WD40andTape Moved final bits of low level communication code into the class. Tested and working. However stack overflow occurs on the ML during joystick steering.
9:cd3607ba5643 2018-08-07 WD40andTape Moved more code into the sub-classes.
8:d6657767a182 2018-08-07 WD40andTape Moved some of the LL communication code out to the "LLComms" class.
7:5b6a2cefbf3b 2018-08-03 WD40andTape Moved HL comms into a separate class/file.
6:f0a18e28a322 2018-08-03 WD40andTape Successfully tested full HL/ML/SL setup.
5:712e7634c779 2018-08-01 dofydoink Ttested
4:303584310071 2018-07-31 WD40andTape cba
3:c83291bf9fd2 2018-07-31 WD40andTape Bug fixes. Tested and working without communication.
2:eea12b149dba 2018-07-31 WD40andTape Changes prior to incorporating HL/ML comms.
1:2a43cf183a62 2018-07-25 WD40andTape Improved variable names and fixed some real-time issues.
0:607bc887b6e0 2018-07-25 dofydoink midlevel 4-1