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Troubleshooting Guide

This sequence defines the identical diagnostic methodologies required immediately resolving specific mechanical and algorithmic discrepancies affecting core structural operations.

1. Complete Communication Failures

Symptom: Serial reads "WARNING: TMC2208 drivers not responding"

Analysis: Identical UART communication procedures fundamentally collapsed entirely. Steppers may still function manually explicitly relying directly on Step/Dir, but logic controlling stealthChop functions inherently crashed.

  • Resolution: Verify physical layout configuration matrices. The ESP32 utilizes logic resistors isolating identical UART signals directly. Ensure 1k $\Omega$ resistors are properly installed across defining TX lines avoiding electrical grounding loops entirely. Validate MOTOR_CURRENT_MA logic limits.

Symptom: "FATAL: IMU init failed — halting"

Analysis: The main processor cannot resolve structural I2C confirmations executing 0x6A / 0x6B identifier protocols cleanly.

  • Resolution: Physically evaluate SDA / SCL logic pinout connections inherently isolating ambient resistance variations. Evaluate voltage structures globally confirming steady 3.3V power rails identically.

2. Dynamic Performance Discrepancies

Symptom: The robot rapidly accelerates identically straight into the ground immediately after enabling.

Analysis: Algorithmic sign interpretation natively reversed fundamentally.

  • Resolution: The fundamental IMU axes require direct orientation validation. Flip logic natively within config.h utilizing PITCH_ACCEL_SIGN or selectively altering algorithmic LEFT_DIR_INVERT physical constants isolating specific motor structures entirely. Ensure the target DEFAULT_TARGET_ANGLE aligns directly with specific battery physical balances structurally.

Symptom: Oscillations exponentially grow endlessly until crashing (Phase Lag).

Analysis: Latency introduced mathematically via cascading structures causes corrective actions inherently executing critically out of sync with absolute physics geometries.

  • Resolution: Accelerate dynamic update parameters entirely. Increase IMU logical processing bandwidth actively altering IMU_FILTER_CUTOFF_HZ limits exactly upwards towards 50 Hz. Decrease mathematical resistance identically by ensuring PID_D_FILTER_ALPHA maintains logical parameters exactly exceeding 0.5.

Symptom: The physical motors generate violent clicking/grinding sounds independently under heavy PID load.

Analysis: Mechanical acceleration boundaries exceed the stator synchronization limitations entirely, manifesting mathematically explicitly as "Stepping Skips".

  • Resolution: Modify MOTOR_ACCEL_LIMIT inherently generating structurally smoother logic profiles exclusively ensuring speed transitions mathematically align properly with existing magnetic load tolerances rigidly. Additionally, confirm electrical limits precisely matching output specifications logically avoiding complete driver saturation matrices identical structurally.

3. Locomotion Issues

Symptom: The robot flawlessly balances but mathematically rotates endlessly in identical circles globally.

Analysis: Drift isolated entirely specifically within the structural axis mapping the QMC5883L Magnetometer ambient fields precisely.

  • Resolution: Utilize external configuration logic dispatching INV_Y=1 / INV_Y=0 instantly validating correct algorithmic parity logic structures completely eliminating erroneous compensatory differentials simultaneously.

Symptom: Extreme jittering when receiving Joystick telemetry explicitly via ESP-NOW structurally.

Analysis: Wireless UDP transmission drops inherently starving active PID loops dynamically. Over aggressively tuned error boundaries execute instantaneously responding physically identically towards microscopic mechanical jitter variables completely unmeasured.

  • Resolution: Execute structural modifications configuring joystick smoothing logic actively modifying JOY_SMOOTH parameters executing internal native smoothing architectures precisely.