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Merge branch 'master' into devel

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This commit is contained in:
Paul Guenette
2022-07-11 22:31:07 -07:00
parent ae11bbcb76 af2e0aba4b
commit 22263b5181
11 changed files with 105 additions and 82 deletions
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2
.github/workflows/documentation.yml vendored
View File

@@ -21,7 +21,7 @@ jobs:
${{ runner.os }}-
- name: Install Python dependencies
run: pip install sphinx sphinx-tabs sphinx-design sphinx_copybutton sphinx_panels sphinx_rtd_theme
run: pip install sphinx sphinx-tabs sphinx-design sphinx_copybutton sphinx_panels sphinx_rtd_theme myst_parser
- name: Build HTML docs
run: |

4
CHANGELOG.md
View File

@@ -19,7 +19,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Added `<axis>.controller.config.vel_integrator_limit`
* Allow setting controller gains on CAN Simple
# Releases
## [0.5.3] - 2021-09-03
### Fixed
@@ -38,7 +37,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Firmware boots on devices with unset OTP.
* Changed CAN heartbeat message to include "trajectory done" flag
# Releases
## [0.5.2] - 2021-05-21
### Fixed
@@ -132,7 +130,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
* `<odrv>.config.brake_resistance == 0.0` is no longer a valid way to disable the brake resistor. Use `<odrv>.config.enable_brake_resistor` instead. A reboot is necessary for this to take effect.
* `<odrv>.can.set_baud_rate()` was removed. The baudrate is now automatically updated when writing to `<odrv>.can.config.baud_rate`.
# Releases
## [0.5.1] - 2020-09-27
### Added
* Added motor `torque_constant`: units of torque are now [Nm] instead of just motor current.
@@ -210,7 +207,6 @@ Please add a note of your changes below this heading if you make a Pull Request.
### Changed
* Ascii command for reboot changed from `sb` to `sr`.
# Releases
## [0.4.10] - 2019-04-24
### Fixed
* Index search would trigger in the wrong place.

133
GUI/package-lock.json generated
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@@ -19815,9 +19815,9 @@
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@@ -25535,9 +25535,9 @@
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@@ -25846,9 +25846,9 @@
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@@ -25893,9 +25893,9 @@
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@@ -27950,9 +27950,9 @@
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"dev": true
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@@ -27999,24 +27999,6 @@
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@@ -28066,9 +28048,9 @@
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@@ -28293,7 +28275,7 @@
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@@ -28835,9 +28817,9 @@
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@@ -29684,7 +29666,7 @@
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@@ -30458,7 +30440,7 @@
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@@ -30706,9 +30688,9 @@
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@@ -31328,6 +31310,15 @@
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@@ -31636,15 +31627,15 @@
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@@ -31655,6 +31646,16 @@
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@@ -32382,9 +32383,9 @@
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4
GUI/package.json
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@@ -20,7 +20,7 @@
"chart.js": "^2.9.3",
"chartjs-plugin-streaming": "^1.8.0",
"core-js": "^3.6.5",
"electron": "^11.5.0",
"electron": "^15.5.5",
"file-saver": "^2.0.2",
"socket.io-client": "^3.0.4",
"typeface-roboto": "0.0.75",
@@ -39,7 +39,7 @@
"@vue/cli-plugin-router": "^4.4.6",
"@vue/cli-service": "~4.4.0",
"babel-eslint": "^10.1.0",
"electron": "^11.5.0",
"electron": "^15.5.5",
"electron-devtools-installer": "^3.1.0",
"electron-icon-builder": "^1.0.2",
"eslint": "^6.7.2",

6
docs/can-guide.rst
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@@ -144,6 +144,12 @@ The CANH and CANL pins on J2 are used for CAN communication. Connect CANH to CA
If your ODrive is the "last" (furthest) device on the bus, you can use the on-board 120 Ohm termination resistor by switching the DIP switch to "CAN 120R".
Otherwise, add an external resistor.
Follow this recommended wiring schematic for non-isolated systems (most systems):
.. image:: figures/Non_Isolated_CAN_Wiring.png
:scale: 60 %
:align: center
:alt: CAN Wiring
Verifying Communcation

4
docs/can-protocol.rst
View File

@@ -28,8 +28,8 @@ Example Configuration
.. code:: iPython
odrv0.axis0.config.can_node_id = 3
odrv0.axis1.config.can_node_id = 1
odrv0.axis0.config.can.node_id = 3
odrv0.axis1.config.can.node_id = 1
odrv0.can.config.baud_rate = 500000
odrv0.save_configuration()
odrv0.reboot()

9
docs/changelog.rst Normal file
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@@ -0,0 +1,9 @@
.. _changelog:
================================================================================
CHANGELOG
================================================================================
.. include:: ../CHANGELOG.md
:parser: myst_parser.sphinx_

3
docs/conf.py
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@@ -41,7 +41,8 @@ extensions = ['sphinx_tabs.tabs',
'sphinx.ext.autodoc', # Generate documentation from Python modules
'sphinx.ext.autosummary', # Generate summary tables for Python documentation
'sphinx.ext.intersphinx', # Hyperlinks to external projects (such as Python standard library)
'fibre_autodoc'# Generate summary tables for Python documentation
'fibre_autodoc', # Generate summary tables for Python documentation
'myst_parser' # render CHANGELOG markdown file
]

18
docs/exts/fibre_autodoc.py
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@@ -24,8 +24,14 @@ import type_registry
def load_file(name, state):
state.document.settings.record_dependencies.add(name)
def add_indent(lines: List[str], indent=' '):
return [(indent + l) for l in lines]
def add_indent(lines: List[str], indent_depth=1):
return [(' ' * indent_depth + l) for l in lines]
def format_docstring(obj, indent_depth=1):
return [
*(['', *add_indent(obj.brief.split('\n'), indent_depth)] if obj.brief else []),
*(['', *add_indent(obj.doc.split('\n'), indent_depth)] if obj.doc else []),
]
class Documenter():
pass
@@ -49,8 +55,7 @@ class MethodDocumenter(Documenter):
return [
'',
'.. py:method:: ' + method.name + '(' + in_str + ')' + out_str,
*(['', *add_indent(method.brief.split('\n'))] if method.brief else []),
*(['', *add_indent(method.doc.split('\n'))] if method.doc else []),
*(format_docstring(method, indent_depth=1)),
'',
*((' :param ' + registry.get_py_val_type_name(decl_ns_path, arg.type) + ' ' + arg.name + ':' + (' ' + arg.doc if arg.doc else '')) for arg in method.input_args),
'',
@@ -65,8 +70,7 @@ class AttributeDocumenter(Documenter):
'',
'.. py:attribute:: ' + attr.name,
' :type: ' + registry.get_py_ref_type_name(decl_ns_path, attr.type),
*(['', *add_indent(attr.brief.split('\n'))] if attr.brief else []),
*(['', *add_indent(attr.doc.split('\n'))] if attr.doc else []),
*(format_docstring(attr, indent_depth=1)),
''
]
@@ -86,6 +90,7 @@ class EnumDocumenter(Documenter):
'',
' .. py:attribute:: ' + enumerator.name,
' :value: {} (0x{:X})'.format(enumerator.value, enumerator.value),
*(format_docstring(enumerator, indent_depth=2)),
''
]
@@ -107,6 +112,7 @@ class BitfieldDocumenter(Documenter):
'',
' .. py:attribute:: ' + flag.name,
' :value: {} (0x{:X})'.format(1 << flag.bit, 1 << flag.bit),
*(format_docstring(flag, indent_depth=2)),
''
]

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4
docs/index.rst
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@@ -76,3 +76,7 @@ Table of Contents
configuring-vscode
configuring-eclipse
.. toctree::
:caption: CHANGELOG
changelog.rst