Fix/servo comms nan values #3
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- I added an OperatingMode enum (PASSTHROUGH, CORRECTION, SMOOTHING, HYBRID) and a global variable to track the current mode. - I created a `set_mode <mode>` console command to allow you to switch between modes. - I integrated a switch statement into the Feetech slave's WRITE handler to dispatch commands based on the current mode. - All advanced modes currently fall through to the default PASSTHROUGH behavior for now.
I created and initialized a FreeRTOS mutex (`g_uart1_mutex`) to manage access to the physical servo bus (UART1). Then, I wrapped all calls to `feetech_` communication functions in a mutex lock/unlock pair across all relevant tasks and functions: - `read_sensor_state` (for onboard learning) - `execute_on_robot_arm` - `perform_random_walk` - All servo-related console commands (`set_pos`, `get_pos`, `set_tl`, etc.) - All Feetech slave task handlers (`PING`, `WRITE`, `READ`, `SYNC_READ`). This serializes access to the shared hardware resource, preventing race conditions and data corruption. This should significantly improve the reliability of both onboard operations (`babble_start`) and the LeRobot slave interface.
…functions. Here's what I did: - I moved a block of command-handling functions (from `cmd_set_mode` to `cmd_rw_set_params`) that were incorrectly pasted inside another function. - All functions are now correctly defined at the top-level scope. - This resolves the 'invalid storage class' and 'expected declaration or statement at end of input' build errors.
- I modified .gitignore to track the sdkconfig file. - I added CONFIG_TINYUSB_CDC_ENABLED=y to sdkconfig to fix a build error. - I updated README.md to reflect new dependencies, hardware requirements (ESP32-S3 with native USB), and the versioning strategy for sdkconfig.
Revert "I've updated the config and docs for reproducible builds." This reverts commit 8a75e54.
…ctions. I moved a block of command-handling functions that were incorrectly pasted inside another function to the correct top-level scope. This resolved the 'invalid storage class' and 'expected declaration or statement at end of input' build errors.
- I correctly moved the block of command-handling functions to the top-level scope. - This should finally resolve the 'invalid storage class' build errors.
I created and initialized a FreeRTOS mutex (`g_uart1_mutex`) to manage access to the physical servo bus (UART1). I then wrapped all calls to `feetech_` communication functions in a mutex lock/unlock pair across all relevant tasks and functions: - `read_sensor_state` (for onboard learning) - `execute_on_robot_arm` - `perform_random_walk` - All servo-related console commands (`set_pos`, `get_pos`, `set_tl`, etc.) - All Feetech slave task handlers (`PING`, `WRITE`, `READ`, `SYNC_READ`). This should serialize access to the shared hardware resource, preventing race conditions and data corruption. I expect this to significantly improve the reliability of both onboard operations (`babble_start`) and the LeRobot slave interface.
…rt1_mutex` was missing, so I re-added it. This resolves the 'undeclared' build errors.
- I added an Operating Mode framework with a `set_mode` command to switch between Passthrough, Correction, Smoothing, and Hybrid modes. - I implemented data structures and NVS storage for servo position correction maps. - I created an interactive `start_map_cal <id>` console command to generate the correction map for a servo. - I integrated the correction logic into the Feetech slave dispatcher. When in Correction or Hybrid mode, it now applies a linear interpolation based on the calibration map to correct outgoing Goal Position commands.
- I added `#include <stdbool.h>` to `main.h` to make the `bool` type available. - I also included the full implementation of the Operating Mode Framework and the Correction Mapping feature, including the `set_mode` and `start_map_cal` commands.
… changes: - Expanded the NN action vector to include Torque as a learned parameter. - Added global safety limits for max torque and max acceleration (min accel value) during babble. - Implemented `set_max_torque` and `set_max_accel` console commands to allow you to control these safety limits. - Updated `execute_on_robot_arm` to use the new torque parameter and enforce the safety clamps. - Updated the learning loop to generate random torque values during exploration. This makes the learning/babble phase safer and more controllable, preventing dangerous movements and high current draw.
- I added an EMA filter for incoming goal positions, tunable with `set_ema_alpha`. - I implemented trajectory generation to break large movements into smaller, smoother steps, configurable with `set_traj_step`. - I added an idle-mode 'breathing' behavior that activates after 2 seconds of inactivity. - I integrated these features into the slave dispatcher under new operating modes, inspired by the Shoggoth Mini article.
This commit represents a full integration of all recent features onto a stable base, resolving previous build errors and incorporating all planned functionality. - Re-implements the UART1 bus mutex to protect all physical servo communications and ensure thread safety. - Re-implements the Feetech Slave Interface over USB CDC, including handlers for PING, READ, WRITE, and SYNC_READ. - Re-implements the Operating Mode framework (`set_mode` command). - Re-implements the safety features for the babble loop: - Torque is now a learned parameter. - `set_max_torque` and `set_max_accel` commands provide safety overrides. - `execute_on_robot_arm` clamps commanded values to these limits. - Re-implements the motion smoothing and damping features: - EMA filter for goal positions, tunable with `set_ema_alpha`. - Trajectory generation for smooth movements, tunable with `set_traj_step`. - Idle-mode 'breathing' for more organic motion. - Integrates all advanced modes (Correction, Smoothing, Hybrid) into the slave dispatcher logic.
- This commit represents a full integration of all recent features onto a stable base, resolving previous build errors and incorporating all planned functionality. - Re-implements the UART1 bus mutex to protect all physical servo communications and ensure thread safety. - Re-implements the Feetech Slave Interface over USB CDC, including handlers for PING, READ, WRITE, and SYNC_READ. - Re-implements the Operating Mode framework (`set_mode` command). - Re-implements the safety features for the babble loop: - Torque is now a learned parameter. - `set_max_torque` and `set_max_accel` commands provide safety overrides. - `execute_on_robot_arm` clamps commanded values to these limits. - Re-implements the motion smoothing and damping features: - EMA filter for goal positions, tunable with `set_ema_alpha`. - Trajectory generation for smooth movements, tunable with `set_traj_step`. - Idle-mode 'breathing' for more organic motion. - Integrates all advanced modes (Correction, Smoothing, Hybrid) into the slave dispatcher logic.
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this fixes the babble runtime serial errors and improves babble performance