{"action":"created","comment":{"url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/comments/176927339","pull_request_review_id":106717292,"id":176927339,"diff_hunk":"@@ -2,93 +2,120 @@\n #include <Wire.h>\n #include <Adafruit_ADS1015.h>\n #include <ros.h>\n-#include <tfr_msgs/EncoderReading.h>\n-#include <tfr_msgs/PotentiometerReading.h>\n+#include <tfr_msgs/ArduinoReading.h>\n #include <quadrature.h>\n \n ros::NodeHandle nh;\n \n //encoder level constants\n-const double GEARBOX_CPR = 4096; //pulse per revolution\n-//TODO note this rev/m is acually 0.87, but I had to step it up to make testing work\n+const double CPR = 4096; //pulse per revolution\n+//TODO note this rev/m is acually 0.876, but I had to step it up to make testing work\n const double GEARBOX_RPM = 60; //revolutions per meter\n+//TODO note this rev/m is acually 0.208, but I had to step it up to make testing work\n+const double TURNTABLE_RPM = 60;\n \n //pin constants\n const int GEARBOX_LEFT_A = 2;\n const int GEARBOX_LEFT_B = 3;\n \n-struct potentiometer\n+\n+\n+\n+struct Potentiometer\n {\n-    const static float ADC_RANGE=0.0001875;\n-    float extension_range; //the max range the potentiometer can be extended\n-    float max_voltage; //the max voltage for the potentiometer\n-    float getExtension(int16_t val)\n-    {\n-        return val* ADC_RANGE/max_voltage; \n-    }\n+   const static float ADC_RANGE=0.0001875;\n+   float max_voltage; //the max voltage for the potentiometer","path":"src/tfr_control/arduino/encoder/encoder.ino","position":38,"original_position":38,"commit_id":"ffc3fe4dd99117ce58e46f5c6aed922a3a3b185e","original_commit_id":"ffc3fe4dd99117ce58e46f5c6aed922a3a3b185e","user":{"login":"AdamuKaapan","id":2459833,"avatar_url":"https://avatars1.githubusercontent.com/u/2459833?v=4","gravatar_id":"","url":"https://api.github.com/users/AdamuKaapan","html_url":"https://github.com/AdamuKaapan","followers_url":"https://api.github.com/users/AdamuKaapan/followers","following_url":"https://api.github.com/users/AdamuKaapan/following{/other_user}","gists_url":"https://api.github.com/users/AdamuKaapan/gists{/gist_id}","starred_url":"https://api.github.com/users/AdamuKaapan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AdamuKaapan/subscriptions","organizations_url":"https://api.github.com/users/AdamuKaapan/orgs","repos_url":"https://api.github.com/users/AdamuKaapan/repos","events_url":"https://api.github.com/users/AdamuKaapan/events{/privacy}","received_events_url":"https://api.github.com/users/AdamuKaapan/received_events","type":"User","site_admin":false},"body":"Does the mixing of floats and doubles have a reason? (could everything be a double? I know you mentioned some library calls need it) It bugs me stylistically a bit, but if there's reasons for it then it's fine.","created_at":"2018-03-25T03:03:48Z","updated_at":"2018-03-25T03:15:50Z","html_url":"https://github.com/TrickfireRobotics/NasaRmc2018/pull/50#discussion_r176927339","pull_request_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/50","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/comments/176927339"},"html":{"href":"https://github.com/TrickfireRobotics/NasaRmc2018/pull/50#discussion_r176927339"},"pull_request":{"href":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/50"}}},"pull_request":{"url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/50","id":176986273,"html_url":"https://github.com/TrickfireRobotics/NasaRmc2018/pull/50","diff_url":"https://github.com/TrickfireRobotics/NasaRmc2018/pull/50.diff","patch_url":"https://github.com/TrickfireRobotics/NasaRmc2018/pull/50.patch","issue_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/issues/50","number":50,"state":"open","locked":false,"title":"Control Layer","user":{"login":"collinsc","id":15841243,"avatar_url":"https://avatars0.githubusercontent.com/u/15841243?v=4","gravatar_id":"","url":"https://api.github.com/users/collinsc","html_url":"https://github.com/collinsc","followers_url":"https://api.github.com/users/collinsc/followers","following_url":"https://api.github.com/users/collinsc/following{/other_user}","gists_url":"https://api.github.com/users/collinsc/gists{/gist_id}","starred_url":"https://api.github.com/users/collinsc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/collinsc/subscriptions","organizations_url":"https://api.github.com/users/collinsc/orgs","repos_url":"https://api.github.com/users/collinsc/repos","events_url":"https://api.github.com/users/collinsc/events{/privacy}","received_events_url":"https://api.github.com/users/collinsc/received_events","type":"User","site_admin":false},"body":"# Prequisites\r\n#46 \r\n# Description\r\nThe hardware layer of the control stack is completely finished and ready to integrate. It's all manual testing and hardware so I will do this with screenshots.\r\n\r\nI added in all the code to pack and unpack the information from our messages and send it to the controllers, then write commands back to the motors. There are a few features of note to see here.\r\n\r\n_Position Controllers_ I set up all of our potentiometers to read in position, which is what you are supposed to do with potentiometers, and refactored our control layer to output position in the bin, turntable, and arm. \r\n\r\n_Bin Controller_ the bin controller was a big question mark, and it turned out being a one line fix we have full functionality\r\n\r\n_Arduino Update_ I use a modified driver for the adc and set up a pipeline to allow us to process messages from both boards at once. Using this we can meet our target response time of 30 hz.\r\n\r\n_Acceleration Limiter_ mechanical has given us the requirement of keeping acceleration to a 1 m/s^2 limit. I have acceleration limits in my application to avoid skidding out, but I added an extra safety at the control layer. This will help our teleop users.\r\n\r\n_Potentiometer Units_ Our potentiometers now read position in radians to match the joints they will be measuring, with updated figures from mechanical.\r\n\r\n# Tests\r\nTo test our acceleration limiter I generated commands oscilating the robot back and forth wildly. You can see the limited result on the right collumn.\r\n![limitation](https://user-images.githubusercontent.com/15841243/37815130-ed433818-2e2a-11e8-9871-b97e938ca3ff.png)\r\n\r\nTo test our potentiometer units I set the lower limit for my test potentiometer to be 0.20944 rads, and the upper to be 1.693 rads. These are close to what we will actually see out of that joint. \r\n\r\nObserve the low reading\r\n![bin test](https://user-images.githubusercontent.com/15841243/37815242-48bbc30e-2e2b-11e8-9a6c-d8b838bd61ab.png)\r\n\r\nAnd the high\r\n![hihg](https://user-images.githubusercontent.com/15841243/37815248-4ec07100-2e2b-11e8-9317-990efc0678fd.png)\r\n","created_at":"2018-03-23T06:47:32Z","updated_at":"2018-03-25T03:15:50Z","closed_at":null,"merged_at":null,"merge_commit_sha":"46327721d9d080b31b95206cee75b95cf3468b19","assignee":{"login":"collinsc","id":15841243,"avatar_url":"https://avatars0.githubusercontent.com/u/15841243?v=4","gravatar_id":"","url":"https://api.github.com/users/collinsc","html_url":"https://github.com/collinsc","followers_url":"https://api.github.com/users/collinsc/followers","following_url":"https://api.github.com/users/collinsc/following{/other_user}","gists_url":"https://api.github.com/users/collinsc/gists{/gist_id}","starred_url":"https://api.github.com/users/collinsc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/collinsc/subscriptions","organizations_url":"https://api.github.com/users/collinsc/orgs","repos_url":"https://api.github.com/users/collinsc/repos","events_url":"https://api.github.com/users/collinsc/events{/privacy}","received_events_url":"https://api.github.com/users/collinsc/received_events","type":"User","site_admin":false},"assignees":[{"login":"collinsc","id":15841243,"avatar_url":"https://avatars0.githubusercontent.com/u/15841243?v=4","gravatar_id":"","url":"https://api.github.com/users/collinsc","html_url":"https://github.com/collinsc","followers_url":"https://api.github.com/users/collinsc/followers","following_url":"https://api.github.com/users/collinsc/following{/other_user}","gists_url":"https://api.github.com/users/collinsc/gists{/gist_id}","starred_url":"https://api.github.com/users/collinsc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/collinsc/subscriptions","organizations_url":"https://api.github.com/users/collinsc/orgs","repos_url":"https://api.github.com/users/collinsc/repos","events_url":"https://api.github.com/users/collinsc/events{/privacy}","received_events_url":"https://api.github.com/users/collinsc/received_events","type":"User","site_admin":false}],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/50/commits","review_comments_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/50/comments","review_comment_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/pulls/comments{/number}","comments_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/issues/50/comments","statuses_url":"https://api.github.com/repos/TrickfireRobotics/NasaRmc2018/statuses/ffc3fe4dd99117ce58e46f5c6aed922a3a3b185e","head":{"label":"TrickfireRobotics:control_refactor","ref":"control_refactor","sha":"ffc3fe4dd99117ce58e46f5c6aed922a3a3b185e","user":{"login":"TrickfireRobotics","id":32374500,"avatar_url":"https://avatars2.githubusercontent.com/u/32374500?v=4","gravatar_id":"","url":"https://api.github.com/users/TrickfireRobotics","html_url":"https://github.com/TrickfireRobotics","followers_url":"https://api.github.com/users/TrickfireRobotics/followers","following_url":"https://api.github.com/users/TrickfireRobotics/following{/other_user}","gists_url":"https://api.github.com/users/TrickfireRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/TrickfireRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TrickfireRobotics/subscriptions","organizations_url":"https://api.github.com/users/TrickfireRobotics/orgs","repos_url":"https://api.github.com/users/TrickfireRobotics/repos","events_url":"https://api.github.com/users/TrickfireRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/TrickfireRobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":105507099,"name":"NasaRmc2018","full_name":"TrickfireRobotics/NasaRmc2018","owner":{"login":"TrickfireRobotics","id":32374500,"avatar_url":"https://avatars2.githubusercontent.com/u/32374500?v=4","gravatar_id":"","url":"https://api.github.com/users/TrickfireRobotics","html_url":"https://github.com/TrickfireRobotics","followers_url":"https://api.github.com/users/TrickfireRobotics/followers","following_url":"https://api.github.com/users/TrickfireRobotics/following{/other_user}","gists_url":"https://api.github.com/users/TrickfireRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/TrickfireRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TrickfireRobotics/subscriptions","organizations_url":"https://api.github.com/users/TrickfireRobotics/orgs","repos_url":"https://api.github.com/users/TrickfireRobotics/repos","events_url":"https://api.github.com/users/TrickfireRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/TrickfireRobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/TrickfireRobotics/NasaRmc2018","description":"This 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