OpenServo.com

mpthompson · Joined: 02 Jan 2006 Posts: 650 Location: San Carlos, CA

I added a config.h file to consolidate configuration settings for the OpenServo software into a single global location. This file is included by all C source files. I did this in anticipation of some additional work by others on different aspects of the OpenServo and to make it easy to enable or disable experimental or optional features.

Hopefully this is a step in the right direction, but let me know if there are suggestions for how to better manage such configuration issues.

-Mike

ginge · Posted: Fri Feb 10, 2006 10:34 pm Post subject:

Good work!

This is indeed definately a step in the right direction!

The source needs segmenting into as many modules as possible so you can mix and match configuraton options.

Barry

mpthompson · Joined: 02 Jan 2006 Posts: 650 Location: San Carlos, CA

Stefan Engelke contributed the code that implements the state estimator and state regulator for motion control (great stuff). Rather than have motion.c implement three separate algorithms I took this opportunity to break motion.c into the pid.c, ipd.c and regulator.c file. An estimator.c file has also been added. Compilation of these files is controlled by config.h.

I'll soon be updating the README.txt file to explain the settings in the config.h.

Also, we are really reaching the 3K application limit in the ATtiny45 Flash. I'm continuing to try to get information on when and where the ATtiny85 will be available.

-Mike

andylippitt · Posted: Mon Feb 13, 2006 5:17 pm Post subject:

Fantastic! Glad also to see the separate estimator. Oddly enough one of the setups I hope to run with PCT is to have the servo with angular velocity feedback and PWM input. Looks like the tools for such a setup have just been handed to me!