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Reflected Arduino changes in changelog

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Aaron de los Santos
2021-06-13 20:43:08 -07:00
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CHANGELOG.md
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@@ -27,6 +27,8 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Added torque mirroring to INPUT_MODE_MIRROR
* `mechanical_power_bandwidth`, `electrical_power_bandwidth`, `spinout_electrical_power_threshold`, `spinout_mechanical_power_threshold` added to `controller.config` for spinout detection.
* `mechanical_power` and `electrical_power` added to `controller`.
* Added autogenerated enums header file [ODriveEnums.h](../Arduino/ODriveArduino/ODriveEnums.h) for Arduino use. Created Jinja template and edited Makefile to autogenerate it.
* Added GetPosition member function in ODriveArduino class to complement existing GetVelocity, SetVelocity, and SetPosition functions.
### Changed
* Step/dir performance improved! Dual axis step rates up to 250kHz have been tested
@@ -55,6 +57,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
* Added `torque_mirror_ratio` and use it to feed-forward `controller_.torque_output` in `INPUT_MODE_MIRROR`
* Accumulate integer steps in step/dir to avoid float precision errors
* Circular setpoint mode must be enabled when the step/dir interface is used.
* Replaced inline enum in ODriveArduino class by including new autogenerated enum header file.
### API Migration Notes
* `axis.config.turns_per_step` changed to `axis.controller.config.steps_per_circular_range`