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Swerve final#13

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ishanm0 wants to merge 77 commits intodevautoslug/modbot:devfrom swerve-finalautoslug/modbot:swerve-finalCopy head branch name to clipboard

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Commits

Commits on Aug 21, 2023

• test code for pi <-> pico i2c

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• spi tests, have not tested them yet

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• pico spi test

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Commits on Sep 17, 2023

• ishan's code

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Commits on Sep 18, 2023

• NOT TESTED multicore velocity readings from encoder

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Commits on Oct 5, 2023

• comments/updates

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• experimenting (broken)

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• Merge remote-tracking branch 'origin/dev' into encoder

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• Merge branch 'dev' into i2c-comms

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Commits on Oct 6, 2023

• bidirectional i2c :)

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• Merge branch 'i2c-comms' into i2c-drive-one-wheel

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• renamed handler

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• created i2c drive python & pico files, set up pico file?

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Commits on Oct 13, 2023

• experimentation - iirc this does send data between the pi and pico (pi code is currently on the pi)

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Commits on Oct 14, 2023

• 2 way pi pico i2c - python

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Commits on Oct 15, 2023

• continued working on motor/pico/i2c tests

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Commits on Oct 16, 2023

• fix prev_pos not being updated

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• Merge branch 'encoder' of https://github.com/autoslug/modbot into encoder

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• move multicore velocity init to constructor

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Commits on Oct 17, 2023

• Update motor_test.py

  ishanm0

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• we can get encoder velocity, but it crashes if the motor is going too fast (only in the negative direction though)

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• Moved to quadrature_encoder project based on pico-examples code

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  ishanm0

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Commits on Oct 24, 2023

• Created pico control test

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Commits on Oct 27, 2023

• yes

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Commits on Nov 4, 2023

• pico motor control works :)

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• organized pico_motor_test & i2c_drive

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• comments

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• added rotation relative to a point link

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• encoder works, abstracted behind a factory

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  ishanm0

  and

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• encoder degrees

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Commits on Nov 5, 2023

• more testing, wrote a byte to double function & started adapting motor test for multiple motors + classes

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Commits on Nov 6, 2023

• Merge branch 'dev' into i2c-drive-one-wheel

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• Merge branch 'dev' into encoder

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  committed
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• updated comments, ratios

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Commits on Nov 7, 2023

• Merge branch 'dev' into encoder

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• Renamed byte_to_motor_double & added endianess test in i2c_drive_pico.c

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Commits on Nov 9, 2023

• Read joyX and joyY bytes from pi

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Commits on Nov 16, 2023

• pico motor control w/ classes works!

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  ishanm0

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• updates to i2c_drive_pico, doesn't work yet

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  ishanm0

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Commits on Nov 19, 2023

• send data with struct

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Commits on Dec 1, 2023

• unsuccessful attempt to get floats out of byte data - endianness issues?

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Commits on Dec 3, 2023

• byte to float conversion isn't working

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Commits on Jan 14, 2024

• Update pi_i2c.py with support for multiple i2c devices

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Commits on Jan 21, 2024

• work

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• Merge I2C and PWM control

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• changed x-y assignment

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• Merge branch 'dev' into i2c-drive-one-wheel

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Commits on Feb 23, 2024

• swerve drive math test

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• Update swerve_test.py

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• basic swerve seems to work

  ishanm0

  committed
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• cleaned up

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• swerve vector control?

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Commits on Mar 2, 2024

• worked on steering velocity scaling

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• testing

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Commits on Mar 6, 2024

• Update basic_swerve_pico.c

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Commits on May 2, 2024

• cleanup

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• Merge branch 'i2c-drive-one-wheel' into swerve-final

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• Merge branch 'basic-swerve' into swerve-final

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• Merge branch 'encoder' into swerve-final

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Commits on May 3, 2024

• swerve-final

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Commits on May 4, 2024

• added swerve decoder and pid barebone

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Commits on May 6, 2024

• update pid

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Commits on May 14, 2024

• commit

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Commits on May 21, 2024

• small tweaks to software

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• restructured swerve_final branch

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• merged basic-swerve

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• merged encoder branch into swerve-final

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Commits on Jul 7, 2024

• Added message-library encode/decode

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Commits on Jul 9, 2024

• Added payload processing

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• moved old swerve-decoder code

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• Merge branch 'message-library-test' into swerve-final

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• made zero() public in zeroing_script

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• Added main function

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Commits on Jul 12, 2024

• reorganized swerve_pico code

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Commits on Jul 29, 2024

• change code structure

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• edit cmake files added clist files

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• dont care

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