Add configuration of joint angular velocity and replace the outdated speed API. #88

aentinger · 2022-08-24T07:13:39Z

This PR eliminates the non-relatable speed-API which is basically configuring the run-time between two consecutive position set-points. It is replaced with setAngularVelocity/getAngularVelocity which allow the definition of the angular velocity in °/s used to transition between two consecutive position set-points. In order to avoid confusion to in-API was also eliminated, as it would allow to override the angular velocity control.

… where necessary).

… return code).

…s variable is not needed).

…ime.

github-actions · 2022-08-24T07:37:32Z

Memory usage change @ cb87a59

Board	flash	%	RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	🔺 0 - +1291	0.0 - +0.01	0 - 0	0.0 - 0.0

Click for full report table

Board	examples/Braccio_Record_and_Replay flash	%	examples/Braccio_Record_and_Replay RAM for global variables	%	examples/Controlling_Manually_Braccio flash	%	examples/Controlling_Manually_Braccio RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out RAM for global variables	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge flash	%	examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I RAM for global variables	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II flash	%	examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick RAM for global variables	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge flash	%	examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I RAM for global variables	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II flash	%	examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge flash	%	examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge RAM for global variables	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio flash	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio RAM for global variables	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge flash	%	examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge RAM for global variables	%	examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay flash	%	examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay RAM for global variables	%	examples/Platform_Tutorials/projects/p03-record-replay-mode/02_Record_Replay_challenge flash	%	examples/Platform_Tutorials/projects/p03-record-replay-mode/02_Record_Replay_challenge RAM for global variables	%	examples/Tools/Braccio_Basic flash	%	examples/Tools/Braccio_Basic RAM for global variables	%	examples/Tools/Factory_Set_ID_Interactive flash	%	examples/Tools/Factory_Set_ID_Interactive RAM for global variables	%	examples/Tools/Factory_Set_Initial_Servo_Position flash	%	examples/Tools/Factory_Set_Initial_Servo_Position RAM for global variables	%	examples/Tools/LCD_Custom_Menu flash	%	examples/Tools/LCD_Custom_Menu RAM for global variables	%	examples/Tools/LCD_Menu_Joystick flash	%	examples/Tools/LCD_Menu_Joystick RAM for global variables	%	examples/Tools/LCD_Motors flash	%	examples/Tools/LCD_Motors RAM for global variables	%	examples/Tools/Test_Inputs flash	%	examples/Tools/Test_Inputs RAM for global variables	%	examples/Tools/Test_Motor_Angular_Control flash	%	examples/Tools/Test_Motor_Angular_Control RAM for global variables	%	examples/Tools/Test_Motor_Communication flash	%	examples/Tools/Test_Motor_Communication RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	913	0.01	0	0.0	913	0.01	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	1252	0.01	0	0.0	1088	0.01	0	0.0	1252	0.01	0	0.0	1252	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	710	0.0	0	0.0	1291	0.01	0	0.0	1291	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	913	0.01	0	0.0	1252	0.01	0	0.0	0	0.0	0	0.0	578	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	1252	0.01	0	0.0	0	0.0	0	0.0	578	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

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aentinger added 6 commits August 24, 2022 07:47

Rewrite setPosition in a better structured way (exit early, lock only…

279a155

… where necessary).

Rewrite getPosition in a better structure (exit early, always a valid…

7bb9bcb

… return code).

Limit angular velocity to 10°/s.

6e15737

Only lock actual writing to the servos.

99242d9

Only update position array when we are in synched mode (otherwise thi…

7acbf71

…s variable is not needed).

Bugfix: Runtime is in milliseconds, not seconds.

cb87a59

aentinger added type: enhancement Proposed improvement topic: code Related to content of the project itself labels Aug 24, 2022

aentinger self-assigned this Aug 24, 2022

aentinger added 4 commits August 24, 2022 09:23

From a pre-defined max angular velocity calculate the individual runt…

e49c5d0

…ime.

Turn compile time constant into member variable.

672628a

Provide getter/setters for angular velocity.

14c3c7a

Drop runtime/getRuntime API.

bc001ef

Eliminate speed API alltogether.

5175708

aentinger changed the title ~~Limit angular velocity~~ Add configuration of joint angular velocity and replace the outdated speed API. Aug 24, 2022

aentinger added 5 commits August 24, 2022 10:00

Increase default angular velocity to 20.0 °/s. This seems save enough.

81e83b0

Eliminate 'in' API.

e5a0e6a

Fix example after removing in() API.

a5820a6

Enable max. torque which is save now due to velocity limiting.

5f81b53

Eliminate no-longer used speed_grade_t constant.

8a5cc94

aentinger marked this pull request as ready for review August 24, 2022 08:15

aentinger merged commit 24c10bf into main Aug 24, 2022

aentinger deleted the limit-angular-velocity branch August 24, 2022 08:34

aentinger mentioned this pull request Aug 24, 2022

Add speed getter and acceleration getter and setter functions #82

Open

aentinger mentioned this pull request Aug 31, 2022

Esquirio/re frame codes #90

Merged

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Add configuration of joint angular velocity and replace the outdated speed API. #88

Add configuration of joint angular velocity and replace the outdated speed API. #88

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aentinger commented Aug 24, 2022 •

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Add configuration of joint angular velocity and replace the outdated speed API. #88

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