Arduino Controls
The Controller has 3 states of operation. During all states, the arduino reports joint angles, state of operation, target angles, and limit switch values to a computer using serial communication. The supervisory code uses a combination of all three states of operation to load the dump truck.
Passive Mode
In passive mode, the arduino monitors joint angles and limit switch values. This mode can be used along with manual control to for calibration and troubleshooting.
Traverse Mode
In traverse mode, the arduino drives each angle to the commanded value at the commanded speed. This mode provides simple and fast operation, but results in overshoot.
Position Error Feedback
In position error feedback mode, the arduino controls motor voltage using PD control on position error. This mode provides precise positioning of the excavator.