pru | Pipeable Ruby - forget about grep / sed / awk / wc ... use | Regex library

Just add the rows with treatment == 0, these should be your control group, and it seems fair to assume the original data order is maintained (althoug a reported index on this in the output would have been nice!)

Just change controls definition to this:

Modifying the PRU firmware to read the encoder signal from a different pin was easy. Figuring out how to assemble a working device tree for the combination of features I needed was way harder.

I would welcome any feedback on how I should have done this, or how I could improve upon what I currently have.

The Robotics Cape and the BeagleBone Blue provide a turnkey solution for servo controlling four motors, IFF you are satisfied with driving them at 8V (e.g. a 2S LIPO battery). The Motor Cape can handle a higher drive voltage (and more current), but does not include encoders. Plugging encoders into the P8 & P9 headers on the Motor Cape is simple enough, but the BeagleBone itself only has 3 encoder counters (eQEP).
The Robot Control Library solves this problem by reading the fourth encoder with PRU0. However, some of the pins conflict between the Motor Cape and what the Robot Control Library expects on the Robotics Cape.

So, how hard could it be to use the Robot Control Library to read encoders and drive motors with a slightly different pinout on the Motor Cape? Probably not difficult at all if you are already competent with BeagleBone device tree overlays, which I am not...

The Robot Control Library expects the fourth encoder to show up on P8_15 and P8_16, but the Motor Cape has P8_16 wired as a direction signal. There are only 12 pins than be configured as inputs to PRU0 and I eventually selected P9_25 because I did not need the IMU functionality.

The best reference I found for what pins can be used for what purposes were these pdfs:

• https://ofitselfso.com/BeagleNotes/BeagleboneBlackP8HeaderPinMuxModes.pdf
• https://ofitselfso.com/BeagleNotes/BeagleboneBlackP9HeaderPinMuxModes.pdf

The Robot Control Library defines the encoder signal input bits in pru_firmware/src/pur0-encoder.asm as

Very brief overview for GCC:

GCC's .md machine definition files tell it what instructions are available and what they do, using similar constraint syntax to GNU C inline asm. (GCC doesn't know about machine code, only asm text, that's why it can only output a .s for as to assemble separately.) There are also some C functions that know about generic rules for that architecture, and I guess stuff like register names.

The GCC-internals manual has a section 6.3.9 Anatomy of a Target Back End that documents where the relevant files are in the GCC source tree.

Your code is correct with a (small minor) problem: your pivot refuses to work because of a duplication of a symbol (with the same dates).

Check list_2014 - you have 'INFO' twice. Simply remove one and re-run.

Can't you use the function read_sheet() from googlesheets4?

You need to bind back on the UI thread - e.g.

in /boot/uEnv.txt, uncomment disable_uboot_overlay_video=1.

Things can get complicated if the uncommenting of the _video=1 line does not work.

I can help further but please reply if it works or not.

The code presented is efficient enough, but if you are interested in alternatives, first you can get rid of the loop by manually unrolling it. Second you can replace the if logic with some bit-twiddling:

After downloading the data, I get the following warning message: