Joined: 01 Nov 2012
|Posted: Wed Sep 11, 2013 10:58 pm Post subject: OpenServo V4
With the hardware for V4 largely sorted (as a prototype), I am working on the software to complete the design.
This topic is a follow-on from the Hardware forum, specifically this post http://www.openservo.com/Forums/viewtopic.php?t=925&start=174.
I have a primitive PID up and running based on Barry Carter's work here https://github.com/ginge/OpenServoV4.
I notice that there is a lot of V3 code that is not in V4 which probably addresses the issue of the servo performing poorly under load, and it lacks a lot of the features of V3.
Over the next while I intended to port a lot of the remaining V3 functionality and remove parts of the architecture that are no longer needed (e.g. banks of registers) and add some new features:
* 3D accelerometer
* Detection of loss of power to the motor
* Motor current monitoring
* Temperature measurement (of the CPU only)
* PID profiling where the servo will itself capture performance data that can be used to tune the PID
* Enhancing the PID to make it self learning
* Replacing the bootloader with a variation of the Energy Micro one that allows the user to invoke the bootloader to replace the bootloader itself, or the OpenServo firmware; this is controlled over the USB bus via a simple serial protocol using a terminal.