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Update CHANGELOG.md

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Explain changes in gains units.
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Valentin Martinez Gama
2020-10-01 12:26:04 -05:00
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CHANGELOG.md
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@@ -12,6 +12,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
### Changed
* **`input_pos`, `input_vel`, `pos_estimate_linear`, `pos_estimate_circular`, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]**
* **`pos_gain`, `vel_gain`, `vel_integrator_gain`, are now in units of [(turns/s) / turns], [Nm/(turns/s)], [Nm/(turns/s * s)] instead of [(counts/s) / counts], [A/(counts/s)], [A/((counts/s) * s)]. `pos_gain` is not really affected but previous `vel_gain` and `vel_integrator_gain` in A/(counts/s) should be multiplied by 320 to be converted to the new units.
* `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits.
* `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property.
* `axis.config.counts_per_step` is now `axis.config.turns_per_step`