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Test joint encoder #4

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Test joint encoder #4

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MartinLocker
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Create code for test joint encoder.
Calibration joint:

  1. In file main.cpp on row 4 set "AS5600 as5600(0);"
  2. Connect joint encoder to esp board and upload test.
  3. The terminal should display the current value of the joint position.
  4. Position the robot in a straight line and read the value.
  5. In file main.cpp on row 4 in "AS5600 as5600(?);" write the determined value
  6. Upload to esp board and test it.

m3d
m3d reviewed Jan 10, 2025
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esp/Joint/src/as5600.h
@@ -0,0 +1,20 @@
#ifndef AS5600_H
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is this your file or some official library? If your, can you please add extra comment what "AS5600" is? I guess some hall sensor(?) and the class provides info about conversion to degrees? I would maybe mention it with angle() function too as other may expect radians ;). Thanks

m3d
m3d reviewed Jan 10, 2025
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esp/Joint/src/main.cpp
*/

/*
bool cap_ISR_cb(mcpwm_unit_t mcpwm, mcpwm_capture_channel_id_t cap_channel, const cap_event_data_t *edata,void *user_data){ //this function need to be in that format to be recognized as cap_isr_cb_t type
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why is this code commented out?

m3d
m3d reviewed Jan 10, 2025
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esp/Joint/src/main.cpp
int z = as5600.angle();
Serial.printf("Width: %5d Angle: %3d.%02d\n\r", x, z/100, abs(z%100));
delay(100);
}
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can you add EOLN?

m3d
m3d reviewed Jan 11, 2025
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esp/Joint/platformio.ini
platform = espressif32
board = esp32doit-devkit-v1
framework = arduino
upload_port = COM8
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it looks like specification of upload_port makes some troubles - in my case I need /dev/ttyUSB0 ... but when I used the Communication (?) project this was commented out and autodetect (?) worked fine

@m3d
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m3d commented Jan 11, 2025

In the terminal I see:

Width:  2113 Angle: 172.42
Width:  2109 Angle: 172.42
Width:  2113 Angle: 172.51
Width:  2113 Angle: 172.51
Width:  2113 Angle: 172.51
Width:  2113 Angle: 172.51
Width:  2113 Angle: 172.42
Width:  2114 Angle: 172.51

I guess the float number is the expected init value, correct?

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m3d commented Jan 11, 2025

p.s. nice :) - I used 185.52 for preliminary calibration and it works nice ... I am glad that we have the same angles (mathematical), i.e. positive angle to the left

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@MartinLocker @m3d