updated motor pid values
authorErik Andresen <erik@vontaene.de>
Fri, 20 Jan 2017 18:37:53 +0000 (19:37 +0100)
committerErik Andresen <erik@vontaene.de>
Fri, 20 Jan 2017 18:37:53 +0000 (19:37 +0100)
avr/motor_ctrl/main.c
avr/motor_ctrl/main.hex
config/razor.yaml
msg/Sensor.msg
scripts/pyshared
scripts/sensor_board.py

index d6422f1..16c8b0c 100644 (file)
@@ -97,7 +97,7 @@
  */
 
 
-#define KP 0.061
+#define KP 0.062
 #define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
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 :00000001FF\r
index 3186e94..c8a3611 100644 (file)
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [275.555, 42.7157, -390.911]
-magn_ellipsoid_transform: [[0.933345, -0.0570043, 0.0301076], [-0.0570043, 0.950937, 0.0283306], [0.0301076, 0.0283306, 0.965042]]
+magn_ellipsoid_center: [281.573, 61.3150, -400.087]
+magn_ellipsoid_transform: [[0.862755, 0.0531029, 0.0318686], [0.0531029, 0.944888, 0.0445345], [0.0318686, 0.0445345, 0.899048]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
index c0204d6..6f58c7a 100644 (file)
@@ -1,7 +1,7 @@
 Header header
-uint16 light
-float32 temp
-uint8 humidity
-float32 pressure
+uint16 light # lux
+float32 temp # degree celsius
+uint8 humidity # percent
+float32 pressure # kph
 uint16 co
 bool ventilate
index f239712..c0beb26 160000 (submodule)
@@ -1 +1 @@
-Subproject commit f23971240165455313729886360541bee726b42c
+Subproject commit c0beb2624233bf2737219cd8a222bece7a37dda7
index bddfb58..8efeb16 100755 (executable)
@@ -11,7 +11,7 @@ from pyshared.humidity import *
 from wild_thumper.msg import Sensor
 
 # Board warming offset
-TEMP_ERROR = -2 # -5 # degree celsius
+TEMP_ERROR = -5 # degree celsius
 PRESSURE_ERROR = -4.5
 
 """
@@ -43,9 +43,13 @@ def get(addr=0x58):
        pressure_kpa = P = (pressure_v/5 + 0.04) / 0.004 + PRESSURE_ERROR # datasheet
 
        # fix temperature/humidity
-       temp_real = temp_mess + TEMP_ERROR 
-       humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
-       humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+       if TEMP_ERROR:
+               temp_real = temp_mess + TEMP_ERROR
+               humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
+               humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+       else:
+               temp_real = temp_mess
+               humidity_real = humidity_mess
 
        return lux, temp_real, humidity_real, pressure_kpa, co