From 82070845c50fef2d3b662729e346912baa3a5c2c Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Mon, 21 Jun 2021 20:53:45 +0200 Subject: [PATCH 1/5] fix variable naming and merge conflict in hoverboard guide --- docs/hoverboard.md | 17 ++++------------- 1 file changed, 4 insertions(+), 13 deletions(-) diff --git a/docs/hoverboard.md b/docs/hoverboard.md index 12027f57..8080c397 100644 --- a/docs/hoverboard.md +++ b/docs/hoverboard.md @@ -120,10 +120,11 @@ Check the status of the encoder object: odrv0.axis0.encoder ``` -Check that there are no errors. If your hall sensors has a standard timing angle then `offset_float` should be close to 0.5 mod 1. Meaning values close to -1.5, -0.5, 0.5, or 1.5, etc are all good. +Check that there are no errors. If your hall sensors has a standard timing angle then `phase_offset_float` should be close to 0.5 mod 1. Meaning values close to -1.5, -0.5, 0.5, or 1.5, etc are all good. ```txt error = 0x0000 (int) - offset_float = 0.5126956701278687 (float) + config: + phase_offset_float = 0.5126956701278687 (float) ``` If all looks good then you can tell the ODrive that saving this calibration to presistent memory is OK: @@ -151,23 +152,13 @@ Lets use GPIO 3/4 for the velocity inputs so that we don't have to disable UART. Then let's map the full stick range of these inputs to some suitable velocity setpoint range. We also have to reboot to activate the PWM input. ```txt -<<<<<<< HEAD odrv0.config.gpio3_pwm_mapping.min = -2 odrv0.config.gpio3_pwm_mapping.max = 2 -odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['input_vel'] +odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property odrv0.config.gpio4_pwm_mapping.min = -2 odrv0.config.gpio4_pwm_mapping.max = 2 -odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['input_vel'] -======= -odrv0.config.gpio3_pwm_mapping.min = -200 -odrv0.config.gpio3_pwm_mapping.max = 200 -odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property - -odrv0.config.gpio4_pwm_mapping.min = -200 -odrv0.config.gpio4_pwm_mapping.max = 200 odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._input_vel_property ->>>>>>> fw-v0.5.2rc1 odrv0.save_configuration() odrv0.reboot() From e52d3d90f22c2ec6f438c0ec5e7828b88913ba49 Mon Sep 17 00:00:00 2001 From: Samuel Sadok Date: Mon, 28 Jun 2021 16:49:41 +0200 Subject: [PATCH 2/5] correct gcc install command --- docs/developer-guide.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/developer-guide.md b/docs/developer-guide.md index 360baaea..0dd611f1 100644 --- a/docs/developer-guide.md +++ b/docs/developer-guide.md @@ -63,7 +63,7 @@ sudo apt-get install python3 python3-yaml python3-jinja2 python3-jsonschema #### Linux (Ubuntu >= 20.04) ```bash -sudo apt install gcc-arm-embedded +sudo apt install gcc-arm-none-eabi sudo apt install openocd sudo apt install git-lfs sudo apt install tup From c8b725b61899c62606a26741fdb16c4ab5675b64 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Mon, 5 Jul 2021 20:56:25 -0400 Subject: [PATCH 3/5] Update odrive-interface.yaml --- Firmware/odrive-interface.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml index f628355b..1a910fec 100644 --- a/Firmware/odrive-interface.yaml +++ b/Firmware/odrive-interface.yaml @@ -1442,6 +1442,8 @@ valuetypes: ### Valid Control modes * `CONTROL_MODE_POSITION_CONTROL` + * `CONTROL_MODE_VELOCITY_CONTROL` + * `CONTROL_MODE_TORQUE_CONTROL` Tuning: brief: Implements a tuning mode doc: | From e2657d77f4c54227d88ca388595ece58beb7346b Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 13 Jul 2021 00:00:46 +0000 Subject: [PATCH 4/5] Bump addressable from 2.7.0 to 2.8.0 in /docs Bumps [addressable](https://github.com/sporkmonger/addressable) from 2.7.0 to 2.8.0. - [Release notes](https://github.com/sporkmonger/addressable/releases) - [Changelog](https://github.com/sporkmonger/addressable/blob/main/CHANGELOG.md) - [Commits](https://github.com/sporkmonger/addressable/compare/addressable-2.7.0...addressable-2.8.0) --- updated-dependencies: - dependency-name: addressable dependency-type: indirect ... Signed-off-by: dependabot[bot] --- docs/Gemfile.lock | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/Gemfile.lock b/docs/Gemfile.lock index ca2e5eb3..1eed173c 100644 --- a/docs/Gemfile.lock +++ b/docs/Gemfile.lock @@ -7,7 +7,7 @@ GEM minitest (~> 5.1) tzinfo (~> 1.1) zeitwerk (~> 2.2, >= 2.2.2) - addressable (2.7.0) + addressable (2.8.0) public_suffix (>= 2.0.2, < 5.0) coffee-script (2.4.1) coffee-script-source @@ -228,6 +228,8 @@ GEM nokogiri (1.11.6) mini_portile2 (~> 2.5.0) racc (~> 1.4) + nokogiri (1.11.6-x86_64-linux) + racc (~> 1.4) octokit (4.21.0) faraday (>= 0.9) sawyer (~> 0.8.0, >= 0.5.3) @@ -271,6 +273,7 @@ GEM PLATFORMS aarch64-linux + x86_64-linux DEPENDENCIES github-pages From 5bd221e663160fee3358053f4f9e9d9ed3cfb814 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Sun, 8 Aug 2021 01:26:29 -0400 Subject: [PATCH 5/5] Fix link to STLink v2 driver --- docs/developer-guide.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/developer-guide.md b/docs/developer-guide.md index 0dd611f1..c1a3a11b 100644 --- a/docs/developer-guide.md +++ b/docs/developer-guide.md @@ -103,7 +103,7 @@ Some instructions in this document may assume that you're using a bash command p * [Python 3](https://www.python.org/downloads/) * Install Python packages: `pip install PyYAML Jinja2 jsonschema` * [OpenOCD](https://github.com/xpack-dev-tools/openocd-xpack/releases/). -* [ST-Link/V2 Drivers](http://www.st.com/web/en/catalog/tools/FM147/SC1887/PF260219) +* [ST-Link/V2 Drivers](https://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-utilities/stsw-link009.html)