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Improve latency #25

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2 tasks
SimonFrauenschuh opened this issue Aug 4, 2023 · 0 comments
Open
2 tasks

Improve latency #25

SimonFrauenschuh opened this issue Aug 4, 2023 · 0 comments
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improvement Improved Feature / Construction

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@SimonFrauenschuh
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SimonFrauenschuh commented Aug 4, 2023 •
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The time needed for one control cycle consists of 5ms needed by the ADC and an unknown time for the I2C communication with the servo driver.
In order for the P/D controller to function well, it is important to keep that timespan as short as possible.

Previous tests with conversion times for getting the balls position of around 1ms improved the regulation extreme, so switching to a faster ADC is also required. (6bit ADC should work)

  • Measure time needed by the I2C motorcontroller (Shouldn't take longer than around 2 milliseconds)
  • Use faster ADC (current one supports 840 conversions/second)
@SimonFrauenschuh SimonFrauenschuh added the improvement Improved Feature / Construction label Aug 4, 2023
@github-project-automation github-project-automation bot moved this to Backlog in Sisyphos 2.0 Aug 30, 2024
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improvement Improved Feature / Construction
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Sisyphos 2.0
Status: Backlog
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@SimonFrauenschuh