Decimus performance graphs

Time to do some tuning of the motion control parameters in Decimus. First I wanted to get some idea of how it is behaving with the initial settings. I have added a simple flight recorder function. A 4 kB buffer can hold up to 2000 integers. These are placed in the buffer on every timer tick. Thus I can record one second of two integers. this isn’t much but it is all I have available on the processor. Any future mouse will have to have a bigger data buffer.

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Decimus doing circuits

Decimus After a bit of a break, I have done some more work on Decimus, my DC micromouse. With all the peripherals tested and working, I have been concentrating on the motion controller or profiler. This has turned out to be harder than I expected. The basic idea is simple enough but the implementation turns out to be a bit tricky. Probably in part because I wanted it to be useable with Primus, the beginner’s stepper-driven micromouse.

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