Remora for RP2040
05 Aug 2023 17:59 #277029
by andypugh
Replied by andypugh on topic Remora for RP2040
I don't know the units, but 0.5mm f-error would be very high, and 0.5 inches would be crazy.
I suspect that you have a problem in the HAL file, maybe there just isn't time to make as many steps as you need per second?
I suspect that you have a problem in the HAL file, maybe there just isn't time to make as many steps as you need per second?
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- drewnabobber
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10 Aug 2023 16:47 - 11 Aug 2023 00:07 #277547
by drewnabobber
Replied by drewnabobber on topic Remora for RP2040
Been trying to find the cause of the following errors for a couple of days now and still no luck. Have reduced the velocity, accels and scale dramatically but still the following errors persist.
Commanded position and feedback track fairly closely, but following error is accumulating.
Commanded position and feedback track fairly closely, but following error is accumulating.
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Last edit: 11 Aug 2023 00:07 by drewnabobber.
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11 Aug 2023 01:52 - 11 Aug 2023 01:56 #277587
by drewnabobber
Replied by drewnabobber on topic Remora for RP2040
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Last edit: 11 Aug 2023 01:56 by drewnabobber.
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11 Aug 2023 04:58 #277599
by scotta
Replied by scotta on topic Remora for RP2040
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11 Aug 2023 13:13 #277640
by drewnabobber
Replied by drewnabobber on topic Remora for RP2040
Yes. Last night before calling it quits for the day, I got the debug output going and I can see that the following errors are correlated with RX failures (RX reset, so no data received).
It really looks to me like somewhere in the pipeline there is some packet loss.
It really looks to me like somewhere in the pipeline there is some packet loss.
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11 Aug 2023 21:00 #277670
by scotta
Replied by scotta on topic Remora for RP2040
Maybe not, as a RX reset is normal behaviour when e-stoped. For the controller board to disconnect by action of the communications monitoring module, multiple successive packets would need to be lost.
github.com/scottalford75/Remora-RP2040-W.../RemoraComms.cpp#L23
github.com/scottalford75/Remora-RP2040-W.../RemoraComms.cpp#L23
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16 Aug 2023 16:09 - 16 Aug 2023 16:09 #278179
by drewnabobber
Replied by drewnabobber on topic Remora for RP2040
I found that pgain of 500 and ff1gain of 1 made a big difference. I also found some things in the firmware that seemed to help and I have posted a PR with my changes.
Last edit: 16 Aug 2023 16:09 by drewnabobber.
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16 Aug 2023 21:44 #278204
by scotta
Replied by scotta on topic Remora for RP2040
Thanks for the work on this, greatly appreciated! I've merged your changes and will do some tests as well. How's the PicoBob hardware working out?
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17 Aug 2023 03:44 #278227
by scotta
Replied by scotta on topic Remora for RP2040
The changes have made a huge difference! pgain of 100 seems to be adequate, so I'll update the config to include that as default. ff1gain is set to 1 by default. Higher pgains actually created following errors at high speed by overshooting.
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17 Aug 2023 19:56 #278294
by drewnabobber
Replied by drewnabobber on topic Remora for RP2040
That sounds good. The PicoBOB DLX hardware is ready to go IMO. Everything works and seems to be in the correct place I will be posting the design very shortly to Github. If you want to reach out to me on Discord or something I am sure I can get you one sooner.
That said. Pausing the threads for the data copying seems to make the step timing jitter pretty bad. I'm going to try implementing a ping-pong buffer and use pointers in the threads so that they are only interrupted for as long as it takes to do an assignment and see if that helps.
That said. Pausing the threads for the data copying seems to make the step timing jitter pretty bad. I'm going to try implementing a ping-pong buffer and use pointers in the threads so that they are only interrupted for as long as it takes to do an assignment and see if that helps.
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