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Implement minor 2025 Changes #158

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merged 8 commits into from
Feb 4, 2025
Merged

Implement minor 2025 Changes #158

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82abfa9
Inverse the pitch error condition according to the updated SRA board
Shankari02 Jan 27, 2025
4f034c7
Update new tuning values for self balancing
Shankari02 Jan 27, 2025
5487397
Rectify a minor error in the new tuning values
Shankari02 Jan 27, 2025
b8ac3e3
Change the black boundary value for line following
Shankari02 Jan 27, 2025
f94199c
Update Tuning Parameters for Improved Self-Balancing
Shankari02 Feb 3, 2025
a8addb3
Revert "Inverse the pitch error condition according to the updated SR…
Shankari02 Feb 3, 2025
4447a00
[Minor] Update the Wall-E version
Shankari02 Feb 3, 2025
333e80e
Merge branch 'master' into 2025_changes
SuperChamp234 Feb 4, 2025
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4 changes: 2 additions & 2 deletions 6_line_following/main/line_following.c
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
#define WHITE_MARGIN 0
#define bound_LSA_LOW 0
#define bound_LSA_HIGH 1000
#define BLACK_BOUNDARY 930 // Boundary value to distinguish between black and white readings
#define BLACK_BOUNDARY 820 // Boundary value to distinguish between black and white readings

/*
* weights given to respective line sensor
Expand Down Expand Up @@ -151,4 +151,4 @@ void app_main()
{
xTaskCreate(&line_follow_task, "line_follow_task", 4096, NULL, 1, NULL);
start_tuning_http_server();
}
}
4 changes: 2 additions & 2 deletions 7_self_balancing/main/tuning_websocket_server.c
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Expand Up @@ -2,7 +2,7 @@

static const char *TAG = "tuning_websocket_server";

static pid_const_t pid_constants = {.kp = 27.0, .ki = 0.0, .kd = 2.0, .setpoint = 2.0, .offset = 0.0, .val_changed = true};
static pid_const_t pid_constants = {.kp = 11.0, .ki = 0.0, .kd = 4.0, .setpoint = 9.0, .offset = 0.0, .val_changed = true};
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static QueueHandle_t client_queue;
const static int client_queue_size = 10;
Expand Down Expand Up @@ -268,4 +268,4 @@ void start_websocket_server()
ws_server_start();
xTaskCreatePinnedToCore(&server_task, "server_task", 3000, NULL, 4, NULL, 1);
xTaskCreatePinnedToCore(&server_handle_task, "server_handle_task", 4000, NULL, 3, NULL, 1);
}
}
4 changes: 2 additions & 2 deletions README.md
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@@ -1,9 +1,9 @@
<p align="center">
<img src="documentation/images/logo.png"/>

<h3 align="center"> Wall-E version 2.3 </h3>
<h3 align="center"> Wall-E version 2.6 </h3>
<p align="center">
Code repository for <a href="https://github.com/SRA-VJTI/Wall-E">Wall-E_v2.3</a>
Code repository for <a href="https://github.com/SRA-VJTI/Wall-E">Wall-E_v2.6</a>
<br />
<br />
<a href="https://github.com/SRA-VJTI/Wall-E/issues">Report Bug</a>
Expand Down