Merge pull request #126 from mcgill-robotics/jptesting

Test data performed in 2023-2024

Author: JPGC04

pio_workspace/test/power_board_rev2/data/pwm_current_characteristic.csv

@@ -0,0 +1,8 @@
+microseconds,mA,notes
+n/a,0.15,when thrusters are not connected
+1540,0.45,
+1600,1.6,
+1650,2.6,
+1700,3.7,
+1750,6.9,
+1775,9,approximate value

pio_workspace/test/power_board_rev2/thrusters.ino

@@ -0,0 +1,148 @@
+/*
+
+DO NOT FLASH TO TEENSY OR TO ARDUINO
+
+*/
+
+#include <Arduino.h>
+#include <Servo.h>
+
+// defines all MCU pins
+#define SRG_P_PIN 	2
+#define SRG_S_PIN	3
+#define SWY_BW_PIN 	4
+#define SWY_ST_PIN 	5
+#define HVE_BW_P_PIN 	6
+#define HVE_BW_S_PIN 	7
+#define HVE_ST_S_PIN 	8
+#define HVE_ST_P_PIN 	9
+
+#define MCU_KS 10
+#define WATER_DETECTED 12
+
+#define TEENSY_LED 13
+
+#define TC_1 14
+#define TC_2 15
+#define TC_3 16
+#define TC_4 17
+#define TC_5 18
+#define TC_6 19
+#define TC_7 20
+#define TC_8 21
+
+#define VBAT1_SENSE 22
+#define VBAT2_SENSE 23
+
+// defines 8 thursters for initialization in an array
+// should be replaced with definitions from ROS
+#define SRG_P 	0
+#define SRG_S	1
+#define SWY_BW 	2
+#define SWY_ST 	3
+#define HVE_BW_P 	4
+#define HVE_BW_S 	5
+#define HVE_ST_S 	6
+#define HVE_ST_P 	7
+
+// creates array of 8 thrusters
+Servo thrusters[8];
+
+// signals to push to thrusters
+uint16_t microseconds[] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
+const uint16_t offCommand[] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
+
+// creates array for 8 thruster current sensing
+float Tcurrents[8];
+
+// creates array for 2 battery voltage sensing
+float Bvoltages[2];
+
+// updates thrusters' pwm signals from array
+void updateThrusters(const uint16_t microseconds[8]) {
+	thrusters[SRG_P].writeMicroseconds(microseconds[SRG_P]);
+	thrusters[SRG_S].writeMicroseconds(microseconds[SRG_S]);
+	thrusters[SWY_BW].writeMicroseconds(microseconds[SWY_BW]);
+	thrusters[SWY_ST].writeMicroseconds(microseconds[SWY_ST]);
+	thrusters[HVE_BW_P].writeMicroseconds(microseconds[HVE_BW_P]);
+	thrusters[HVE_BW_S].writeMicroseconds(microseconds[HVE_BW_S]);
+	thrusters[HVE_ST_P].writeMicroseconds(microseconds[HVE_ST_P]);
+	thrusters[HVE_ST_S].writeMicroseconds(microseconds[HVE_ST_S]);
+}
+
+// attaches and arms thrusters
+void initThrusters() {
+	thrusters[SRG_P].attach(SRG_P_PIN);
+	thrusters[SRG_S].attach(SRG_S_PIN);
+	thrusters[SWY_BW].attach(SWY_BW_PIN);
+	thrusters[SWY_ST].attach(SWY_ST_PIN);
+	thrusters[HVE_BW_P].attach(HVE_BW_P_PIN);
+	thrusters[HVE_BW_S].attach(HVE_BW_S_PIN);
+	thrusters[HVE_ST_S].attach(HVE_ST_S_PIN);
+	thrusters[HVE_ST_P].attach(HVE_ST_P_PIN);
+
+	updateThrusters(offCommand);
+	delay(7000);
+	// reamring works when system killed automatically at 2000
+	// 7000 should be tested since it is more reliable based on bluerobotics
+}
+
+void killSystem() {
+	digitalWrite(MCU_KS, HIGH);
+	delay(100);
+}
+
+void powerSystem() {
+	digitalWrite(MCU_KS, LOW);
+	delay(100);
+}
+
+void waterInterrupt() {
+	killSystem();
+	while (true) {
+		digitalWrite(TEENSY_LED, HIGH);
+		delay(500);
+		digitalWrite(TEENSY_LED, LOW);
+		delay(500);
+	}
+}
+
+void senseCurrent(float Tcurrents[]) {
+	Tcurrents[0] = (analogRead(TC_1)) / (0.005 * 50);
+	Tcurrents[1] = (analogRead(TC_2)) / (0.005 * 50);
+	Tcurrents[2] = (analogRead(TC_3)) / (0.005 * 50);
+	Tcurrents[3] = (analogRead(TC_4)) / (0.005 * 50);
+	Tcurrents[4] = (analogRead(TC_5)) / (0.005 * 50);
+	Tcurrents[5] = (analogRead(TC_6)) / (0.005 * 50);
+	Tcurrents[6] = (analogRead(TC_7)) / (0.005 * 50);
+	Tcurrents[7] = (analogRead(TC_8)) / (0.005 * 50);
+}
+
+void senseVoltage(float Bvoltages[]) {
+	Bvoltages[0] = map(analogRead(VBAT1_SENSE), 0.180, 2.586, 12.8, 16.8);
+	Bvoltages[1] = map(analogRead(VBAT2_SENSE), 0.180, 2.586, 12.8, 16.8);
+}
+
+void setup() {
+	//pinMode(WATER_DETECTED, INPUT_PULLUP);
+	//pinMode(MCU_KS, OUTPUT);
+	pinMode(TC_1, INPUT);
+	pinMode(TC_2, INPUT);
+	pinMode(TC_3, INPUT);
+	pinMode(TC_4, INPUT);
+	pinMode(TC_5, INPUT);
+	pinMode(TC_6, INPUT);
+	pinMode(TC_7, INPUT);
+	pinMode(TC_8, INPUT);
+	pinMode(VBAT1_SENSE, INPUT);
+	pinMode(VBAT2_SENSE, INPUT);
+	pinMode(TEENSY_LED, OUTPUT);
+
+	//attachInterrupt(digitalPinToInterrupt(WATER_DETECTED), waterInterrupt, RISING);
+
+	initThrusters();
+}
+
+void loop() {
+	updateThrusters(microseconds);
+}