Merge pull request #169 from cogip/168-cup-2024-fixes

168 cup 2024 fixes
cogip · Jul 27, 2024 · a745415 · a745415
2 parents 7367bac + b2f040b
commit a745415
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Showing 89 changed files with 1,168 additions and 1,585 deletions.
diff --git a/Makefile.include b/Makefile.include
@@ -95,6 +95,9 @@ else
 	CFLAGS += -D"MALLINFO_FUNC()=mallinfo()"
 endif
 
+# Display only errors
+CFLAGS += -DLOG_LEVEL=LOG_ERROR
+
 # Activate asserts debug
 CFLAGS += -DDEBUG_ASSERT_VERBOSE
 

diff --git a/applications/cup2024-pami/include/real/app_conf.hpp b/applications/cup2024-pami/include/real/app_conf.hpp
@@ -4,20 +4,20 @@
 #include "etl/numeric.h"
 
 // Linear pose PID
-constexpr double linear_pose_pid_kp = 0.1;
+constexpr double linear_pose_pid_kp = 1;
 constexpr double linear_pose_pid_ki = 0;
 constexpr double linear_pose_pid_kd = 0;
 // Angular pose PID
-constexpr double angular_pose_pid_kp = 0.2;
+constexpr double angular_pose_pid_kp = 1;
 constexpr double angular_pose_pid_ki = 0;
 constexpr double angular_pose_pid_kd = 0;
 // Linear speed PID
-constexpr double linear_speed_pid_kp = 12;
-constexpr double linear_speed_pid_ki = 1.5;
+constexpr double linear_speed_pid_kp = 100;
+constexpr double linear_speed_pid_ki = 10;
 constexpr double linear_speed_pid_kd = 0;
 // Angular speed PID
-constexpr double angular_speed_pid_kp = 50;
-constexpr double angular_speed_pid_ki = 3;
+constexpr double angular_speed_pid_kp = 100;
+constexpr double angular_speed_pid_ki = 10;
 constexpr double angular_speed_pid_kd = 0;
 
 // Linear pose PID integral limit

diff --git a/boards/cogip-board-ng/Makefile b/boards/cogip-board-ng/Makefile
diff --git a/boards/cogip-board-ng/Makefile.dep b/boards/cogip-board-ng/Makefile.dep
diff --git a/boards/cogip-board-ng/Makefile.features b/boards/cogip-board-ng/Makefile.features
diff --git a/boards/cogip-board-ng/Makefile.include b/boards/cogip-board-ng/Makefile.include
diff --git a/boards/cogip-board-ng/board.c b/boards/cogip-board-ng/board.c
diff --git a/boards/cogip-board-ng/dist/openocd.cfg b/boards/cogip-board-ng/dist/openocd.cfg
diff --git a/boards/cogip-board-ng/include/board.h b/boards/cogip-board-ng/include/board.h
diff --git a/boards/cogip-board-ng/include/periph_conf.h b/boards/cogip-board-ng/include/periph_conf.h
diff --git a/boards/cogip-board/include/board.h b/boards/cogip-board/include/board.h
@@ -36,7 +36,6 @@ extern "C" {
 #define PCF857X_PORT_0  0
 
 /* Servomotors */
-#define LX_DIR_PIN      GPIO_PIN(PORT_C, 15)
 #define LX_UART_DEV     1
 
 /**