New software - some issues about t-bots

[garethnisbet]

Sorry Giles, it is the correct one. I renamed the folder but forgot to rename the file before I uploaded it. Gareth Sent from my Samsung Galaxy smartphone. -------- Original message --------From: Giles Knap <[email protected]> Date: 16/07/2018 20:15 (GMT+00:00) To: garethnisbet/T-BOTS <[email protected]> Cc: Subscribed <[email protected]> Subject: [garethnisbet/T-BOTS] New software - some issues (#2) Hi Gareth, I'm trying to update the firmware on the TBot. The .ino file in folder TBot0.4 was called TBot0.3.ino and Arduino IDE complained. I renamed the file to TBot0.4.ino and it then did upload (however I am left uncertain as to whether you have put the correct file in source control. I tuned the deadbands and it seemed to work as expected but the bot cannot balance at all now! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread. {"api_version":"1.0","publisher":{"api_key":"05dde50f1d1a384dd78767c55493e4bb","name":"GitHub"},"entity":{"external_key":"github/garethnisbet/T-BOTS","title":"garethnisbet/T-BOTS","subtitle":"GitHub repository","main_image_url":"https://assets-cdn.github.com/images/email/message_cards/header.png","avatar_image_url":"https://assets-cdn.github.com/images/email/message_cards/avatar.png","action":{"name":"Open in GitHub","url":"https://github.com/garethnisbet/T-BOTS"}},"updates":{"snippets":[{"icon":"DESCRIPTION","message":"New software - some issues (#2)"}],"action":{"name":"View Issue","url":"#2"}}} [ { "@context": "http://schema.org", "@type": "EmailMessage", "potentialAction": { "@type": "ViewAction", "target": "#2", "url": "#2", "name": "View Issue" }, "description": "View this Issue on GitHub", "publisher": { "@type": "Organization", "name": "GitHub", "url": "https://github.com" } }, { "@type": "MessageCard", "@context": "http://schema.org/extensions", "hideOriginalBody": "false", "originator": "AF6C5A86-E920-430C-9C59-A73278B5EFEB", "title": "New software - some issues (#2)", "sections": [ { "text": "", "activityTitle": "**Giles Knap**", "activityImage": "https://assets-cdn.github.com/images/email/message_cards/avatar.png", "activitySubtitle": "@gilesknap", "facts": [ { "name": "Repository: ", "value": "garethnisbet/T-BOTS" }, { "name": "Issue #: ", "value": 2 } ] } ], "potentialAction": [ { "name": "Add a comment", "@type": "ActionCard", "inputs": [ { "isMultiLine": true, "@type": "TextInput", "id": "IssueComment", "isRequired": false } ], "actions": [ { "name": "Comment", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"IssueComment\",\n\"repositoryFullName\": \"garethnisbet/T-BOTS\",\n\"issueId\": 2,\n\"IssueComment\": \"{{IssueComment.value}}\"\n}" } ] }, { "name": "Close issue", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"IssueClose\",\n\"repositoryFullName\": \"garethnisbet/T-BOTS\",\n\"issueId\": 2\n}" }, { "targets": [ { "os": "default", "uri": "#2" } ], "@type": "OpenUri", "name": "View on GitHub" }, { "name": "Unsubscribe", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"MuteNotification\",\n\"threadId\": 356948521\n}" } ], "themeColor": "26292E" } ]

[garethnisbet]

Hi Giles, I just saw the second paragraph of your email. Are all the deadband values positive? they should be. If the robot is not balancing, subtract 5 from each of the deadband values. Gareth

…

On 16 July 2018 at 20:15, Giles Knap ***@***.***> wrote: Hi Gareth, I'm trying to update the firmware on the TBot. The .ino file in folder TBot0.4 was called TBot0.3.ino and Arduino IDE complained. I renamed the file to TBot0.4.ino and it then did upload (however I am left uncertain as to whether you have put the correct file in source control. I tuned the deadbands and it seemed to work as expected but the bot cannot balance at all now! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#2>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGWqLn0uUbzeA9sBBIdfXywADaVqZU3Dks5uHOZjgaJpZM4VRpop> .

[gilesknap]

I think we need an mpsfactor per motor but it is a single global used in speedPIDCallBack. Perhaps we require a third. average mpsfactor for this function to use.

[gilesknap]

I've subtracted 5 from each (positive) deadband and still not balancing. It seems that mpsfactor is making it want to move the motors pretty fast. I saw a big jump in speed after applying mpsfactor in the test program.

[garethnisbet]

You can give different mpsfactor 's to each motor when you instantiate them. I usually just multiply one of them with a scale factor to account for the difference. Gareth

…

On 16 July 2018 at 21:35, Giles Knap ***@***.***> wrote: I think we need an mpsfactor per motor but it is a single global used in speedPIDCallBack. Perhaps we require a third. average mpsfactor for this function to use. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#2 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGWqLmT6UyCzIALD9rL0_RqgJlMRroiUks5uHPkFgaJpZM4VRpop> .

[garethnisbet]

Is the mpsfactor around 250?

…

On 16 July 2018 at 21:41, Giles Knap ***@***.***> wrote: I've subtracted 5 from each (positive) deadband and still not balancing. It seems that mpsfactor is making it want to move the motors pretty fast. I saw a big jump in speed after applying mpsfactor in the test program. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#2 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGWqLk8vkHWs0Yt4pGOVcwYE2_3s9fruks5uHPqCgaJpZM4VRpop> .

[gilesknap]

It is probably the trim values that are an issue. I'm pretty sure you did not tell me the name of the bluetooth app to use (I can't extract it from our email threads anyway)

BTW if you follow the link in the GitHub emails and open these issues in the GitHub website it would mean attachments and formatting etc would work and we could then have the whole log of getting this working in one place.

[gilesknap]

Agreed re mps factor passing to motor constructors, but don't expect novice programmers to guess that. Your instructions should include details of how to transfer your findings in the test program over to the finished one (I'm sure that was going to be in the final product anyway!).

I think my issue is with trim numbers and it would be easy to check this if I had the bluetooth controller fully working. I've now found the app but I'm going to open another ticket on this subject (this is not being pedantic, it so I can easily find the answer again when I come back to this in a week with a wiped memory and will help anyone else if they end up coming to this repo for their TBOT code).

[gilesknap]

My mps values are a 230 and 218

[gilesknap]

A couple of other things to add to the documentation:-

• The board is an Arduino Nano and the IDE needs to be told via Tools->Board
• If you choose the Arduino IDE from Ubuntu Software, you will get a Snap which is a bit rubbish since it won't have permission to access the serial port
  • fix by doing
    • snap remove arduino-mhall119
    • snap install arduino-mhall119 --classic
• your account will need access to the serial port, for ubuntu (and probably others):-
  • sudo adduser <userid> dialout
  • log out and back in

[gilesknap]

I've configured the controller but the trim buttons seem random as to whether they affect the associated value. I cannot get my bot to balance at all. I'm going to wait for the next release since there is no point in debugging something that you are rewriting.

[gilesknap]

I've installed the new version of the firmware and adjusted my gyro trim to -4.1 and all is now working well. I have pushed my settings to a new branch so you can review them. See https://github.com/garethnisbet/T-BOTS/tree/gilesBot

Branches might be a nice way to manage the settings for each of your test robots. So you don't need to leave commented out settings in the code for each bot you are testing. I'll talk you through how if you are interested.

I'll bring my robot to work tomorrow so you can tell me if it is performing as expected (seems a little slower than I remember).

[garethnisbet]

Hi Giles, you can increase the speed by increasing controller_sensitivity.This will, however, increase the likelihood of falling over. I'll bring my  T-Bot for comparison. Gareth Sent from my Samsung Galaxy smartphone. -------- Original message --------From: Giles Knap <[email protected]> Date: 25/07/2018 22:24 (GMT+00:00) To: garethnisbet/T-BOTS <[email protected]> Cc: Gareth Nisbet <[email protected]>, Comment <[email protected]> Subject: Re: [garethnisbet/T-BOTS] New software - some issues (#2) I've installed the new version of the firmware and adjusted my gyro trim to -4.1 and all is now working well. I have pushed my settings to a new branch so you can review them. See https://github.com/garethnisbet/T-BOTS/tree/gilesBot Branches might be a nice way to manage the settings for each of your test robots. So you don't need to leave commented out settings in the code for each bot you are testing. I'll talk you through how if you are interested. I'll bring my robot to work tomorrow so you can tell me if it is performing as expected (seems a little slower than I remember). — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread. {"api_version":"1.0","publisher":{"api_key":"05dde50f1d1a384dd78767c55493e4bb","name":"GitHub"},"entity":{"external_key":"github/garethnisbet/T-BOTS","title":"garethnisbet/T-BOTS","subtitle":"GitHub repository","main_image_url":"https://assets-cdn.github.com/images/email/message_cards/header.png","avatar_image_url":"https://assets-cdn.github.com/images/email/message_cards/avatar.png","action":{"name":"Open in GitHub","url":"https://github.com/garethnisbet/T-BOTS"}},"updates":{"snippets":[{"icon":"PERSON","message":"@gilesknap in #2: I've installed the new version of the firmware and adjusted my gyro trim to -4.1 and all is now working well. I have pushed my settings to a new branch so you can review them. See https://github.com/garethnisbet/T-BOTS/tree/gilesBot\r\n\r\nBranches might be a nice way to manage the settings for each of your test robots. So you don't need to leave commented out settings in the code for each bot you are testing. I'll talk you through how if you are interested.\r\n\r\nI'll bring my robot to work tomorrow so you can tell me if it is performing as expected (seems a little slower than I remember)."}],"action":{"name":"View Issue","url":"#2 (comment)"}}} [ { "@context": "http://schema.org", "@type": "EmailMessage", "potentialAction": { "@type": "ViewAction", "target": "#2 (comment)", "url": "#2 (comment)", "name": "View Issue" }, "description": "View this Issue on GitHub", "publisher": { "@type": "Organization", "name": "GitHub", "url": "https://github.com" } }, { "@type": "MessageCard", "@context": "http://schema.org/extensions", "hideOriginalBody": "false", "originator": "AF6C5A86-E920-430C-9C59-A73278B5EFEB", "title": "Re: [garethnisbet/T-BOTS] New software - some issues (#2)", "sections": [ { "text": "", "activityTitle": "**Giles Knap**", "activityImage": "https://assets-cdn.github.com/images/email/message_cards/avatar.png", "activitySubtitle": "@gilesknap", "facts": [ ] } ], "potentialAction": [ { "name": "Add a comment", "@type": "ActionCard", "inputs": [ { "isMultiLine": true, "@type": "TextInput", "id": "IssueComment", "isRequired": false } ], "actions": [ { "name": "Comment", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"IssueComment\",\n\"repositoryFullName\": \"garethnisbet/T-BOTS\",\n\"issueId\": 2,\n\"IssueComment\": \"{{IssueComment.value}}\"\n}" } ] }, { "name": "Close issue", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"IssueClose\",\n\"repositoryFullName\": \"garethnisbet/T-BOTS\",\n\"issueId\": 2\n}" }, { "targets": [ { "os": "default", "uri": "#2 (comment)" } ], "@type": "OpenUri", "name": "View on GitHub" }, { "name": "Unsubscribe", "@type": "HttpPOST", "target": "https://api.github.com", "body": "{\n\"commandName\": \"MuteNotification\",\n\"threadId\": 356948521\n}" } ], "themeColor": "26292E" } ]