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

PID tuning on MCU using topics #54

Open
fjp opened this issue Jan 22, 2022 · 0 comments
Open

PID tuning on MCU using topics #54

fjp opened this issue Jan 22, 2022 · 0 comments
Assignees
@fjp
Labels
enhancement New feature or request good first issue Good for newcomers

Comments

@fjp
Copy link
Member

fjp commented Jan 22, 2022

See #13 and #35

One more thing about configurability. I am planning to use dynamic reconfigure for the PID parameters and everytime a change happens a message could be published to the low-level base controller to update its PID values. This way we could keep the performance up, because the PID runs on the microcontroller and also have configurability in the high-level code. This could be a workaround of rosserial not supporting dynamic reconfigure. But I need to check if this can actually work.
@fjp fjp added enhancement New feature or request good first issue Good for newcomers labels Jan 22, 2022
@fjp fjp self-assigned this Jan 22, 2022
fjp added a commit that referenced this issue Jan 22, 2022
@fjp
feat: add callbacks for low level pids on mcu #54
db48dce 
For MCU firmware
- Add subscribers for left and right motor pid controllers using
diffbot_msgs::PIDStamped custom message
- Update debug logging message (different formatting)
- Update PID controller interface (provide proportional_, integral_ and
derivative_ values)
fjp added a commit that referenced this issue Jan 22, 2022
@fjp
fix: missing subscriber initialization (#54)
b6eff98
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@fjp fjp

Labels
enhancement New feature or request good first issue Good for newcomers
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@fjp