imsenthur/arboc

An underwater hyper-redundant snake robot.

arboc's Issues

Relative angle between subsequent links.

Arboc/IMU_Arboc/imu_multiplexer/imu_multiplexer.ino

Lines 217 to 220 in f7e5cf4

	Serial.print("MPU ");Serial.print(i);Serial.print(" with respect to MPU ");Serial.println(0);
	Serial.print("RelativeTheta X = "); Serial.print(theta[i][0] - theta[0][0]);
	Serial.print(" | RelativeTheta_Y = "); Serial.print(theta[i][0] - theta[0][1]);
	Serial.print(" | RelativeTheta_Z = "); Serial.println(theta[i][0] - theta[0][2]);

@manuaatitya The feedback looks excellent but the code committed computes the relative angle between the current link and the head [Link_01] however the control loop requires relative angle between subsequent links. Do look into it and make the necessary changes. :)

Function missing modularity

@jaxxstar Try making the PID function modular with arguments (Kp, Ki, Kd) and ( jointAngles).

Arboc/control/Closed Loop/PD_Implementation

Line 26 in 8568311

void PD_inner() //Passing the desired angles to the function

Adding more than 5 IMUs to the I2C mux

Considering our project need 7 IMU's to be connected, there are two things you can try
(i) Change the address of 2 MPU's to 0x69 and connect them to the any of the working channels, say SD0-SC0 and SD1-SC1 and read from those channels by using address 0x69.
(ii) Check if the problem is in the 6th channels of the I2C MUX by using the 7th and 8th channels with the first 5 channels transmitting data

All this is suggested because you said you are currently not able to read 6 IMU's at the same time