From 759c85c9e1fadabc738644a3d74c6d693ed2769b Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Tue, 3 Aug 2021 21:33:50 -0400 Subject: [PATCH] Rename current -> torque mode vel limit --- Firmware/MotorControl/controller.cpp | 2 +- Firmware/MotorControl/controller.hpp | 2 +- Firmware/odrive-interface.yaml | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp index 1d4a8bf1..207fcf83 100644 --- a/Firmware/MotorControl/controller.cpp +++ b/Firmware/MotorControl/controller.cpp @@ -333,7 +333,7 @@ bool Controller::update() { } // Velocity limiting in current mode - if (config_.control_mode < CONTROL_MODE_VELOCITY_CONTROL && config_.enable_current_mode_vel_limit) { + if (config_.control_mode < CONTROL_MODE_VELOCITY_CONTROL && config_.enable_torque_mode_vel_limit) { if (!vel_estimate.has_value()) { set_error(ERROR_INVALID_ESTIMATE); return false; diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp index 71a52283..7be1cf10 100644 --- a/Firmware/MotorControl/controller.hpp +++ b/Firmware/MotorControl/controller.hpp @@ -43,7 +43,7 @@ public: bool enable_gain_scheduling = false; bool enable_vel_limit = true; bool enable_overspeed_error = true; - bool enable_current_mode_vel_limit = true; // enable velocity limit in current control mode (requires a valid velocity estimator) + bool enable_torque_mode_vel_limit = true; // enable velocity limit in current control mode (requires a valid velocity estimator) uint8_t axis_to_mirror = -1; float mirror_ratio = 1.0f; float torque_mirror_ratio = 0.0f; diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml index d54c6d94..006ec6b1 100644 --- a/Firmware/odrive-interface.yaml +++ b/Firmware/odrive-interface.yaml @@ -900,9 +900,9 @@ interfaces: attributes: gain_scheduling_width: float32 enable_vel_limit: bool - enable_current_mode_vel_limit: + enable_torque_mode_vel_limit: type: bool - doc: Enable velocity limit in current control mode (requires a valid velocity estimator). + doc: Enable velocity limit in torque control mode (requires a valid velocity estimator). enable_gain_scheduling: bool enable_overspeed_error: bool control_mode: ControlMode