New Motors #98

WoozyDragon · 2024-11-20T13:28:10Z

Making a pull request for ease of commenting.
DO NOT MERGE UNTIL NEW MOTORS ARE ON THE ROBOT.

Adds new brushless motor control to the robot.

This reverts commit 2543233.

…old PWM motor code)

WoozyDragon · 2024-11-20T13:30:49Z

lunabot_behavior/no-sensor-deposition.py

Changes to this file (and no-sensor-excavate) aren't going to be super important as they will need to be re-written completely. Likely will need to make at least some of these changes again on the new version.

WoozyDragon

Left some notes. Will probably be more eventually.

WoozyDragon · 2024-11-20T13:33:09Z

lunabot_behavior/plunge.py

@@ -44,7 +44,7 @@ def __init__(self, excavation_publisher: rospy.Publisher = None, lin_act_publish
        # TODO: check and test this value
        self.LOWERING_TIME = 23 #In seconds, how long it takes to lower the linear actuators 90% of the way

-        self.EXCAVATION_SPEED = 127
+        self.EXCAVATION_SPEED = 1000 #RPM
        self.LIN_ACT_SPEED = -110

        self.is_sim = rospy.get_param("is_sim")


Github won't let me leave a comment in the right place, but two lines down (line 54) exc_message is not updated I don't think

Updated in fix threshold commit

WoozyDragon · 2024-11-20T13:34:26Z

lunabot_behavior/stuck.py

@@ -52,7 +52,7 @@ def stuck(self):
            error_publisher.publish(stuck_msg)

            # check if trying to go somewhere
-            if self.robot_effort.left_drive >= 15 or self.robot_effort.right_drive >= 15:
+            if self.robot_effort.left_drive >= 15 or self.robot_effort.right_drive >= 15: #TODO RJN - these might need to be higher


Yes, you're almost certainly correct. That being said, I don't think this file ever gets used. There's a strong argument to be made for deleting it entirely.

Updated in fix threshold commit

WoozyDragon · 2024-11-20T13:36:07Z

lunabot_control/scripts/differential_drive_controller.py

-        self.d = rospy.get_param("~d", 0)  # D gain for PID controller
-        self.i_sat = rospy.get_param("~i_saturate", 10)  # Max for integral term
-
+        self._max_speed = rospy.get_param("~max_speed", 2.0) * 60 / 2 / np.pi # In rad/s converted to RPM


Is there a reason why this isn't in RPM directly? Also, to convert from linear to angular speed, don't you need wheel diameter (12 inches, if it's relevant)

Max RPM speed is 3000 at full torque and 5000 overall. I see very little downside to capping this at 3000 rpm

WoozyDragon · 2024-11-20T13:39:11Z

lunabot_control/scripts/differential_drive_controller.py

-
-        left_drive_msg.data = self.constrain(left)
-        right_drive_msg.data = self.constrain(right)
+        left_drive_msg.data = self.constrain(left_set * self._meters_per_rad)


This goes and uses the self._meters_per_rad. Due to github, I can't leave a comment directly on that definition, but I think that number may be wrong. Even if it is correct, something more than a magic number would be appreciated.

WoozyDragon · 2024-11-20T13:41:57Z

lunabot_control/scripts/differential_drive_controller.py

@@ -115,12 +75,12 @@ def _loop(self):
        self._right_drive_pub.publish(right_drive_msg)

    def constrain(self, val):
-        val = np.clip(-1, val, 1)  # Clipping speed to not go over 100%
-        return np.int8(val * 127 * self.max_speed_percentage)
+        val = np.clip(-self._max_speed, val, self._max_speed)  # Clipping speed to not go over 100%


Yeah looking at this context self._max_speed should really just be explicity defined as RPM. If needed the paramater is used elsewhere, it would be better to back-calculate it from the rpm value.

WoozyDragon · 2024-11-20T13:44:48Z

lunabot_control/scripts/excavation_controller.py

@@ -115,14 +115,19 @@ def publish_effort(self):
        effort_msg.lead_screw = self.constrain(
            self.lead_screw_voltage, max_percent=self.max_lead_screw_percent
        )
-        effort_msg.excavate = self.constrain(
+        effort_msg.excavate = self.constrain_RPM(
            self.exc_voltage, max_percent=self.max_exc_percent


It would probably be a good idea to change exc_voltage to exc_rpm or something similar, unless I'm misunderstanding what the varaible does.

Updated in fix threshold commit

WoozyDragon · 2024-11-20T13:46:11Z

lunabot_control/scripts/excavation_controller.py

+
+    def constrain_RPM(self, val, max_percent):
+        val = np.clip(-1, val, 1)  # Clipping speed to not go over 100%
+        return np.int32(val * 1000 * max_percent)


Why is RPM constrained to never go over 1000? It should be either 3000 or 5000. The percentage that we're spinning the motor at should be the thing that changes.
127 was 100% of motor power last year.

Updated in fix threshold commit

WoozyDragon · 2024-11-20T13:46:53Z

lunabot_control/scripts/manual_controller.py

@@ -93,6 +98,7 @@ def __init__(self):

        self.driving_mode = "Forwards"

+        self._max_speed = rospy.get_param("~max_speed", 2.0) * 60 / 2 / np.pi # In rad/s converted to RPM


Same thing that applies to the other max_speed thing in other file. Should be defined as RPM explicitly.

WoozyDragon · 2024-11-20T13:48:10Z

lunabot_control/scripts/manual_controller.py

@@ -190,9 +196,9 @@ def joy_callback(self, joy):

                # Take priority for right trigger. If it is nearly zero, use the left trigger instead
                if (right_trigger_axis_normalized <= 0.01):
-                    effort_msg.excavate = -1 * constrain(left_trigger_axis_normalized)
+                    effort_msg.excavate = -1 * constrain_RPM(left_trigger_axis_normalized, 1000)


Self._max_speed should either be the same value for all motors, or potentially 3k for drive and 5k for excavation. Deposition doesn't really matter, I don't expect it to be going fast

WoozyDragon · 2024-11-20T13:49:21Z

lunabot_control/scripts/manual_controller.py

@@ -93,6 +98,7 @@ def __init__(self):

        self.driving_mode = "Forwards"

+        self._max_speed = rospy.get_param("~max_speed", 2.0) * 60 / 2 / np.pi # In rad/s converted to RPM
        self.drive_speed_modifier = 1
        self.slow_drive_speed = 0.5
        self.fast_drive_speed = 1


Github being bad. Deposition speed is wrong two lines down (still at 127)

Updated in fix threshold commit

WoozyDragon · 2024-11-20T13:51:19Z

lunabot_embedded/firmware/modbus_test/StepperLib.cpp

+// USER MANUAL HERE:
+// https://www.omc-stepperonline.com/index.php?route=product/product/get_file&file=3354/User%20Manual%20Of%20iSV2-RS.pdf
+
+// TODO RJN - deal with alarms and error codes


Being able to reset from alarms will be very useful.

WoozyDragon · 2024-11-20T13:56:10Z

lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers/robot.cpp

-Sabertooth_MotorCtrl act_right_mtr{&MC3, STMotor::M2};
-Sabertooth_MotorCtrl act_left_mtr{&MC2, STMotor::M2};
+Sabertooth_MotorCtrl act_right_mtr{&MC1, STMotor::M1};
+Sabertooth_MotorCtrl act_left_mtr{&MC1, STMotor::M2};

 constexpr uint8_t ACT_RIGHT_CURR_ADC = 0;


These will almost certainly need to be updated. We probably won't have mutliple ADCs for only two sensors

RobertJN64 added 20 commits September 17, 2024 19:24

added modbus_test.ino

3fdd4cb

manual implementation

64c6776

basic functionality

a6e7b1f

samples working

8776262

setup motors

c4a6561

rewrite with object oriented approach

22193df

enable RS485 code (it was disabled for testing locally)

1743a85

code works on motor!

27d7cb1

split out modbus into its own lib, add more read functions

cc45ea9

fix motor stuff

f44096e

remove all the stuff that the new motors replace

2543233

Revert "remove all the stuff that the new motors replace"

55017db

This reverts commit 2543233.

added stepper motor code (without breaking linear actuators, removed …

2806cbc

…old PWM motor code)

flag TODO items

9e3c8be

removed encoders and old current sensors

55a3744

update volts? -> RPM

fb9c0c5

fix negative velocity

7771c1e

flag ROS messages that need to be updated, update differentialdrive

1a8eafb

update manual_controller.py to use 5000 RPM instead of -127 to 127

bd89c01

use 1000 RPM to stand in for 127 effort

935c236

WoozyDragon requested a review from RobertJN64 November 20, 2024 13:28

WoozyDragon assigned RobertJN64 Nov 20, 2024

WoozyDragon commented Nov 20, 2024

View reviewed changes

fix more 127 -> RPM thresholds

01237b7

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New Motors #98

New Motors #98

WoozyDragon commented Nov 20, 2024

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		@@ -93,6 +98,7 @@ def __init__(self):

		self.driving_mode = "Forwards"

		self._max_speed = rospy.get_param("~max_speed", 2.0) * 60 / 2 / np.pi # In rad/s converted to RPM

New Motors #98

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New Motors #98

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WoozyDragon commented Nov 20, 2024

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