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refactor vel ramp mode to use new controller input handling

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Oskar Weigl
2018-12-02 19:08:12 -08:00
parent 1df442fd9d
commit 192c3260f8
5 changed files with 64 additions and 33 deletions
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docs/getting-started.md
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@@ -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>