Open loop speed control

Usage instructions

Open loop speed control code

Load the code onto the teensy40 microcontroller.
Start the director kaepek-io-director -i keyboard network=localhost,9000,udp dualshock -c start stop reset directionui8 torqueui16 delayui16 -p serial console -o network=localhost,9002,udp network=localhost,9003,udp
Run the realtime graphing program kaepek-io-graph -a localhost -p 9002 -c <config-file-path>, try one of the following configs:
- ./[spwm-root-directory]/lib/host/speed-control/graph_configs/open-loop.json

Realtime graphing example command: kaepek-io-graph -a localhost -p 9002 -c ./lib/host/speed-control/graph_configs/open-loop.json

Use the keyboard (click the director program terminal session first), ps4 dualshock controller or netsend program to control the ESC. Note you must use the netsend program to update PID values.
- keyboard usage:
  - [space] to start.
  - x to stop.
  - r to reset (if ESC led is flashing indicating a fault, note must stop first).
  - u to increase the torque value.
  - j to decrease the torque value.
  - s to increase delay time.
  - w to decrease delay time.
- dualshock ps4 controller usage:
  - options button to start.
  - share button to stop.
  - playstation icon middle button to reset (if ESC led is flashing indicating a fault, note must stop first).
  - up button to increase the torque value.
  - down button to decrease the torque value.
  - trigger to set delay time.
- netsend usage:
  - kaepek-io-netsend -w start to start.
  - kaepek-io-netsend -w stop to stop.
  - kaepek-io-netsend -w reset to reset.
  - kaepek-io-netsend -w torqueui16 -d 16384 to set the torque value to 16384 out of 65535 or about 25%
  - kaepek-io-netsend -w delayui16 -d 1000 to set the delay time to 1000/10 aka 100 microseconds.

Parent Readme