9 votes

Control both Velocity and Position (Linear actuator)

The first thing to realise is that this is not a control problem, this is a planning problem. If you conflate the two, you are making life much more complex than it needs to be. Solution - Motion ...
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  • 4,088
7 votes
Accepted

Microcontroller flashing itself

Yes this is entirely possible, and as FuaZe said, it's called a bootloader. You essentially have two programs on your chip, each with their own memory area; the bootloader and the application. ...
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  • 3,210
5 votes

How to further understand the computed torque model controller

One of the most common controllers is a computed-torque controller, also known as the inverse dynamics. The preceding controller is based on the feedback linearization principle which is an approach ...
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  • 2,310
5 votes
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Will this pseudocode work as a basis for a flight controller?

The signals to the ESC's using PWM should be sent after the PID algo is done processing the errors. The output calculated from the PID is the PWM value to be sent to the ESC's to actuate the motors in ...
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5 votes

How has the Mars Exploration Rover (MER) has been working for 11 years if it was designed for 90 Sol?

There are 2 main reasons why the MER is still operating long after it's 90 Sol planned lifetime. The first is political, strategic, and can be summarized as 'Under promise, over deliver'. When a PI (...
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  • 4,205
4 votes

Help for Cracking Robotics Interview

As a professional robotics engineer (with an Electrical and Computer Eng bachelors, although I focused more on the CE side), this depends entirely on what aspect of a robotic system you'd like to work ...
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4 votes

How would i go about learning to code a flight controller?

Controlling a flying robot (or anything else) is a very complex subject (well, people are doing PhD on it..). I can recommend this free online course on the subject (I have taken it myself). It will ...
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4 votes

algorithm Simple Stereo Vision

The first thing is to make sure that the cameras will get the coordinates of the object at the same time (I don't know if Pixy has a FREX or STROBE signal for synchronization), or that the object is ...
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  • 41
4 votes
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how to implement and code inner and outer PD controllers for quadrotor for position tracking

As extension to this answer, I'd like to share with the community a Simulink model implementing the system described above. It does not represent a solution for the code reported by CroCo but it may ...
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4 votes

Fixed Wing UAV: Do inherently unstable systems desire to be stable for all cases when a closed loop control is implemented on them?

Not all fixed wing aircraft are inherently instable. That feature greatly depends on the center pressure and gravity center designed position. Passenger aircrafts are quite stable, and fight planes ...
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  • 440
3 votes

How would i go about learning to code a flight controller?

The course suggested by @Eugene Sh is a good one to understand in depth the relevant details. If you have general idea about how an aircraft (fixed wing) operates it will be actually helpful to you. ...
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  • 131
3 votes
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Control circuit of humanoid robot: is it worth to learn and use ROS?

ROS is good for when you start writing code to run on a PC. It lets you write independent modules that interface through standard messages and service calls. Furthermore, it has a large user base ...
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  • 5,215
3 votes
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Cascading PID DC Motor Position & Velocity Controllers

I have done this myself, controlling the exact position of a brushless DC motor as its velocity ramps up and down. And I did it using a position controller only. Sounds obvious, but it worked ...
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  • 6,337
3 votes
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Why can't i use different ESCs together on a multirotor?

Ideally, when you raise the collective all the way up, all the ESCs put out their max power and the quadcopter goes straight up. Different ESCs will end up producing different maximum thrusts; and ...
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  • 4,375
3 votes

Continuous or Discrete

Complex systems of differential equations governing a physical phenomenon under study are solved by means of a computer always in a discrete way, meaning that the differential equations are integrated ...
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3 votes
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Role of Neuromorphic Computing and Quantum Computing in the field of Robotics and AI

You've asked more than one question, so I'll try to answer them in order. The Robotics community has not yet hit the limits of current hardware, so very little work is being done on the exotic ...
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  • 485
3 votes

How to control a dc motor

Yes, as this motor is rated for 100amps stall at 12V you should probably be using a motor controller capable of supplying that amount of current. Regarding how to drive the motor, the following may ...
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  • 306
3 votes
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using a device with os instead of microcontrollers

First you are right, Imageprocessing is nothing for MCUs. Mostly because of their limited hardware ressources. But it is simply not the task of those thingys. So the reason you use MCU is the control ...
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  • 1,647
3 votes

How can I increase the resolution of a PWM signal?

You won't ever get 'exactly' 2042.8878 RPM, so going with your measurement accuracy I will assume you mean 2042.8878 +/- 0.0005 RPM. This is approximately an error of 1 part in 4 million. So let's ...
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3 votes

Software real-time of ROS system

You can use Orocos RTT with ROS to achieve some real time performance. In order to use this you need to patch the Linux kernel with a real time patch like PREEMPT_RT or run a real time kernel like ...
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3 votes

Will two 8-bit microcontrollers running in parallel perform similarly to a single 16-bit microcontroller?

It really depends on the problem, ideally two 8 bit processors work in parallel while one 16 bit processor works by itself. What if the problem is add three 3bit numbers (a+b+c). Can two 8 bit ...
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3 votes
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Industrial Controllers - Why not adaptive control and robust control

In short, adaptive control and robust control (Hinf) are the difficult combination of computationally expensive and complicated to understand. Even if you do an excellent job of implementing one of ...
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  • 2,679
3 votes

Industrial Controllers - Why not adaptive control and robust control

If I had to guess, I would say that, in an industrial setting, you have a relatively high degree of certainty about the process you're controlling, and/or there isn't much emphasis on transient ...
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  • 14.5k
3 votes

How to deal with current spikes due to fast direction-switching motor commands?

As explained in my answer to What is stall current and free current of motors? when switching direction on a motor, you can end up drawing more than the maximum normal current rating. This can cause ...
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  • 4,088
3 votes

How to deal with current spikes due to fast direction-switching motor commands?

I've experienced a similar problem before. For me, the root cause was insufficient battery power. When my motor tried to draw peak power it caused the battery supply bus to brown out. This led to ...
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  • 14.5k
3 votes

Uploading a trained ANN to an ESP32 board

You can printout your weights and bias value from your model in TensorFlow, PyTorch or other deep learning library. If you want to convert your model to ESP32, you must create your own code to define ...
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3 votes

Is interacting with registers the only way software and hardware interact?

most people told me about using registers and memory addresses to talk to devices Shortly, that is the correct answer - if you are interested how software will (ultimately) talk to hardware. How ...
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  • 301
2 votes
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Where to ask NXP LPC1343 / ARM Cortex M3 related questions

I feel that people who say "this is off-topic" should tell you about some other place where that is on-topic. I see that you and I are not the only people who think the electronics stackexchange is a ...
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  • 4,375
2 votes

Quadruped Learning Simulator

The recently open-sourced V-REP simulator may suite your needs. I found it more approachable than Gazebo, and it can run on Windows, OSX, and Linux. Their tutorials are fairly straight forward. There ...
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  • 2,062
2 votes
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How to program an Inovatic USB interface?

Drivers The only link they have to download drivers is on their download page. Unfortunately the link to the EMoRo USB drivers returns a 404 error. I have attempted to send a message to the company ...
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