Difference between revisions of "RC14Firmware"
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* [http://www.mouser.com/ProductDetail/Panasonic-Electric-Works/AMN12111/?qs=sGAEpiMZZMvhQj7WZhFIAJpSmd2sL2VeekwkKHWNq70%3d High precision motion detector] | * [http://www.mouser.com/ProductDetail/Panasonic-Electric-Works/AMN12111/?qs=sGAEpiMZZMvhQj7WZhFIAJpSmd2sL2VeekwkKHWNq70%3d High precision motion detector] | ||
* [https://www.sparkfun.com/products/11195 Color sensor] | * [https://www.sparkfun.com/products/11195 Color sensor] | ||
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| + | == Improving Motor Control == | ||
| + | Low level motor control and error detection, although already present, can be improved | ||
| + | * Current monitoring can be used to prevent motor or motor driver damage | ||
| + | * Adding a pair of optical flow sensors can be used as an additional input for error checking and cross-referencing to designate which sensor is returning faults | ||
| + | ** Currently, the encoder faults and hall faults are not 100% accurate as to which is having a fault unless a very expected error case occurs | ||
== Resources == | == Resources == | ||
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*[http://www.invensense.com/mems/gyro/mpu9150.html "MPU-9150 9-Axis IMU (Gyro, Accel, & Compass)"] | *[http://www.invensense.com/mems/gyro/mpu9150.html "MPU-9150 9-Axis IMU (Gyro, Accel, & Compass)"] | ||
Revision as of 07:15, 18 July 2013
Overview
The 2011 firmware will be upgraded to allow the use of new features and modifications made for the 2014 fleet.
For the 2014 control boards a 9-axis IMU will be used:
A few "vision" sensors to aid with local ball tracking is also considered for the 2014 model:
Improving Motor Control
Low level motor control and error detection, although already present, can be improved
- Current monitoring can be used to prevent motor or motor driver damage
- Adding a pair of optical flow sensors can be used as an additional input for error checking and cross-referencing to designate which sensor is returning faults
- Currently, the encoder faults and hall faults are not 100% accurate as to which is having a fault unless a very expected error case occurs
