refactor vel ramp mode to use new controller input handling

CHANGELOG.md

@@ -3,6 +3,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 ### Changed
 * Moved `traptraj.A_per_css` to `controller.inertia`
+* Refactored velocity ramp mode into the new general input filtering structure
 
 # Releases
 ## [0.4.7] - 2018-11-28

Firmware/MotorControl/controller.cpp

@@ -93,11 +93,46 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
     return false;
 }
 
+
+
 bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
     // Only runs if anticogging_.calib_anticogging is true; non-blocking
     anticogging_calibration(pos_estimate, vel_estimate);
     float anticogging_pos = pos_estimate;
 
+    // Update inputs
+    switch (config_.input_mode) {
+        case INPUT_MODE_INACTIVE: {
+            // do nothing
+        } break;
+        case INPUT_MODE_PASSTHROUGH: {
+            pos_setpoint_ = input_pos_;
+            vel_setpoint_ = input_vel_;
+            current_setpoint_ = input_current_;
+        } break;
+        case INPUT_MODE_VEL_RAMP: {
+            float max_step_size = current_meas_period * config_.vel_ramp_rate;
+            float full_step = input_vel_ - vel_setpoint_;
+            float step;
+            if (fabsf(full_step) > max_step_size) {
+                step = std::copysignf(max_step_size, full_step);
+            } else {
+                step = full_step;
+            }
+            vel_setpoint_ += step;
+        } break;
+        case INPUT_MODE_POS_FILTER: {
+
+        } break;
+        // case INPUT_MODE_MIX_CHANNELS: {
+        //     // NOT YET IMPLEMENTED
+        // } break;
+        default: {
+            set_error(ERROR_INVALID_INPUT_MODE);
+            return false;
+        }
+    }
+
     // Trajectory control
     if (config_.control_mode == CTRL_MODE_TRAJECTORY_CONTROL) {
         // Note: uint32_t loop count delta is OK across overflow
@@ -118,19 +153,6 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
         anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
     }
 
-    // Ramp rate limited velocity setpoint
-    if (config_.control_mode == CTRL_MODE_VELOCITY_CONTROL && vel_ramp_enable_) {
-        float max_step_size = current_meas_period * config_.vel_ramp_rate;
-        float full_step = vel_ramp_target_ - vel_setpoint_;
-        float step;
-        if (fabsf(full_step) > max_step_size) {
-            step = std::copysignf(max_step_size, full_step);
-        } else {
-            step = full_step;
-        }
-        vel_setpoint_ += step;
-    }
-
     // Position control
     // TODO Decide if we want to use encoder or pll position here
     float vel_des = vel_setpoint_;

Firmware/MotorControl/controller.hpp

@@ -10,6 +10,7 @@ public:
     enum Error_t {
         ERROR_NONE = 0,
         ERROR_OVERSPEED = 0x01,
+        ERROR_INVALID_INPUT_MODE = 0x02,
     };
 
     // Note: these should be sorted from lowest level of control to
@@ -22,8 +23,17 @@ public:
         CTRL_MODE_TRAJECTORY_CONTROL = 4
     };
 
+    enum InputMode_t{
+        INPUT_MODE_INACTIVE,
+        INPUT_MODE_PASSTHROUGH,
+        INPUT_MODE_VEL_RAMP,
+        INPUT_MODE_POS_FILTER,
+        INPUT_MODE_MIX_CHANNELS,
+    };
+
     struct Config_t {
-        ControlMode_t control_mode = CTRL_MODE_POSITION_CONTROL;  //see: Motor_control_mode_t
+        ControlMode_t control_mode = CTRL_MODE_POSITION_CONTROL;  //see: ControlMode_t
+        InputMode_t input_mode = INPUT_MODE_INACTIVE;  //see: InputMode_t
         float pos_gain = 20.0f;  // [(counts/s) / counts]
         float vel_gain = 5.0f / 10000.0f;  // [A/(counts/s)]
         // float vel_gain = 5.0f / 200.0f, // [A/(rad/s)] <sensorless example>
@@ -85,8 +95,10 @@ public:
     // float vel_setpoint = 800.0f; <sensorless example>
     float vel_integrator_current_ = 0.0f;  // [A]
     float current_setpoint_ = 0.0f;        // [A]
-    float vel_ramp_target_ = 0.0f;
-    bool vel_ramp_enable_ = false;
+
+    float input_pos_ = 0.0f;
+    float input_vel_ = 0.0f;
+    float input_current_ = 0.0f;
 
     uint32_t traj_start_loop_count_ = 0;
 
@@ -94,14 +106,16 @@ public:
     auto make_protocol_definitions() {
         return make_protocol_member_list(
             make_protocol_property("error", &error_),
+            make_protocol_property("input_pos", &input_pos_),
+            make_protocol_property("input_vel", &input_vel_),
+            make_protocol_property("input_current", &input_current_),
             make_protocol_property("pos_setpoint", &pos_setpoint_),
             make_protocol_property("vel_setpoint", &vel_setpoint_),
             make_protocol_property("vel_integrator_current", &vel_integrator_current_),
             make_protocol_property("current_setpoint", &current_setpoint_),
-            make_protocol_property("vel_ramp_target", &vel_ramp_target_),
-            make_protocol_property("vel_ramp_enable", &vel_ramp_enable_),
             make_protocol_object("config",
                 make_protocol_property("control_mode", &config_.control_mode),
+                make_protocol_property("input_mode", &config_.input_mode),
                 make_protocol_property("pos_gain", &config_.pos_gain),
                 make_protocol_property("vel_gain", &config_.vel_gain),
                 make_protocol_property("vel_integrator_gain", &config_.vel_integrator_gain),

docs/getting-started.md

@@ -7,19 +7,7 @@ permalink: /
 # Getting Started
 
 ### Table of contents
-<!-- TOC depthFrom:2 depthTo:2 -->
-
-- [Hardware Requirements](#hardware-requirements)
-- [Wiring up the ODrive](#wiring-up-the-odrive)
-- [Downloading and Installing Tools](#downloading-and-installing-tools)
-- [Firmware](#firmware)
-- [Start `odrivetool`](#start-odrivetool)
-- [Configure M0](#configure-m0)
-- [Position control of M0](#position-control-of-m0)
-- [Other control modes](#other-control-modes)
-- [What's next?](#whats-next)
-
-<!-- /TOC -->
+<!-- TOC depthFrom:2 depthTo:2 -->autoauto- [Hardware Requirements](#hardware-requirements)auto- [Wiring up the ODrive](#wiring-up-the-odrive)auto- [Downloading and Installing Tools](#downloading-and-installing-tools)auto- [Firmware](#firmware)auto- [Start `odrivetool`](#start-odrivetool)auto- [Configure M0](#configure-m0)auto- [Position control of M0](#position-control-of-m0)auto- [Other control modes](#other-control-modes)auto- [What's next?](#whats-next)autoauto<!-- /TOC -->
 
 ## Hardware Requirements
 
@@ -303,8 +291,8 @@ You can now control the velocity with `axis.controller.vel_setpoint = 5000` [cou
 ### Ramped velocity control
 Set `axis.controller.config.control_mode = CTRL_MODE_VELOCITY_CONTROL`.<br>
 Set the velocity ramp rate (acceleration): `axis.controller.config.vel_ramp_rate = 2000` [counts/s^2]<br>
-Activate the ramped velocity mode: `axis.controller.vel_ramp_enable = True`.<br>
-You can now control the velocity with `axis.controller.vel_ramp_target = 5000` [count/s].
+Activate the ramped velocity mode: `axis.controller.config.input_mode = INPUT_MODE_VEL_RAMP`.<br>
+You can now control the velocity with `axis.controller.input_vel = 5000` [count/s].
 
 ### Current control
 Set `axis.controller.config.control_mode = CTRL_MODE_CURRENT_CONTROL`.<br>

tools/odrive/enums.py

@@ -32,5 +32,11 @@ CTRL_MODE_CURRENT_CONTROL = 1
 CTRL_MODE_VELOCITY_CONTROL = 2
 CTRL_MODE_POSITION_CONTROL = 3
 
+INPUT_MODE_INACTIVE = 0
+INPUT_MODE_PASSTHROUGH = 1
+INPUT_MODE_VEL_RAMP = 2
+INPUT_MODE_POS_FILTER = 3
+INPUT_MODE_MIX_CHANNELS = 4
+
 ENCODER_MODE_INCREMENTAL = 0
 ENCODER_MODE_HALL = 1