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PID tuning on MCU using topics #54

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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
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enhancement New feature or request good first issue Good for newcomers
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Noetic

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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 fjp added this to To Do in Noetic via automation 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
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