It seems like the rate of the control loop depends on the execution time of its contents rather than on wall time. This would result in a fragile system whose gain parameters strongly depend on things such as the type of connection. To fix this, instead of making your sleep time constant, check the time and sleep until it's time for the next step. On Dec 27, 2015 9:47 PM, "Mohsen Pashna" <[email protected]> wrote:
> I added a delay when it is connected with the cable, and it is much much > better now, but still I wonder where is my controller bug (It's working > btw). Thanks for your tip on line #L359 > <https://www.google.com/url?q=https%3A%2F%2Fgithub.com%2Fytai%2Fioio%2Fblob%2Fmaster%2Fsoftware%2Fapplications%2FShoeBot%2Fsrc%2Fmain%2Fjava%2Fioio%2Fapplications%2Fshoebot%2FShoebotActivity.java%23L359&sa=D&sntz=1&usg=AFQjCNEf2G4EZh9ENU-xQwfW4YX3lYGcAg>. > It helped. :D > > On Sunday, December 27, 2015 at 12:31:41 AM UTC+8, Ytai wrote: >> >> There shouldn't be any interference problems as long as your dongles use >> different addresses. Don't make the mistake of assuming that changing the >> PIN will solve this problem, it won't. >> There fact that USB doesn't work well for you is likely a bug in your >> application, such as implicitly relying on the delay introduced by the BT >> comms for your controls. >> On Dec 26, 2015 2:15 AM, "Mohsen Pashna" <[email protected]> wrote: >> >>> Hi Ytai >>> >>> Sorry, I just saw you reply. I was working on differents approach to >>> deal with this problem. Indeed they are working over BT very smooth, but >>> with the cable they move ZigZagly. Perhaps the rotational PID controller >>> acts weirdly stronger. Yesterday, I was thinking to connect them all using >>> BT dongles, but I wonder there should be an interference between BT dongles >>> and IOIO boards. Do you have any idea about this issue? Now, I am woking on >>> control the robots based on their connection type separately like the >>> ShoeBot example. >>> >>> Thanks. >>> >>> >>> On Saturday, December 5, 2015 at 1:10:19 PM UTC+8, Ytai wrote: >>>> >>>> Depending on how you wrote the code, your control algorithm might be >>>> sensitive to latency (much higher on BT, ~20ms vs ~1ms) and/or jitter (much >>>> higher on BT). As for the cycle period, it is up to you to decide it, it >>>> shouldn't depend on the connection type. >>>> >>>> If you want to change the behavior depending on either BT or USB, >>>> here's an example: >>>> >>>> https://github.com/ytai/ioio/blob/master/software/applications/ShoeBot/src/main/java/ioio/applications/shoebot/ShoebotActivity.java#L359 >>>> >>>> On Wed, Dec 2, 2015 at 2:19 AM, Mohsen Pashna <[email protected]> wrote: >>>> >>>>> Hello IOIO nerds >>>>> >>>>> I am using IOIO to connect my two-wheel-mobile robot to the android >>>>> device (lovely NX5). I have few robots that swarming together. I tuned one >>>>> of my robots which was connected via BT, and it worked fine. However, for >>>>> other robots I connected (had to) them via USB, and it turns out that the >>>>> previous control parameters are not suit for USB connection. Perhaps it is >>>>> due to the cycle period difference, I am not sure. >>>>> >>>>> By the way, is there any way that I could understand the connection >>>>> type in the code to decide which type of parameters I need to apply? >>>>> >>>>> Please share with me if you have or had related experiences. >>>>> >>>>> Many Thanks >>>>> >>>>> Cheers, >>>>> >>>>> Mohsen >>>>> >>>>> -- >>>>> You received this message because you are subscribed to the Google >>>>> Groups "ioio-users" group. >>>>> To unsubscribe from this group and stop receiving emails from it, send >>>>> an email to [email protected]. >>>>> To post to this group, send email to [email protected]. >>>>> Visit this group at http://groups.google.com/group/ioio-users. >>>>> For more options, visit https://groups.google.com/d/optout. >>>>> >>>> >>>> -- >>> You received this message because you are subscribed to the Google >>> Groups "ioio-users" group. >>> To unsubscribe from this group and stop receiving emails from it, send >>> an email to [email protected]. >>> To post to this group, send email to [email protected]. >>> Visit this group at https://groups.google.com/group/ioio-users. >>> For more options, visit https://groups.google.com/d/optout. >>> >> -- > You received this message because you are subscribed to the Google Groups > "ioio-users" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To post to this group, send email to [email protected]. > Visit this group at https://groups.google.com/group/ioio-users. > For more options, visit https://groups.google.com/d/optout. > -- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at https://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/d/optout.
